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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
 
 <gazebo>
    <plugin name="ros_control" filename="libgazebo_ros_control.so">
       <!--robotNamespace>/</robotNamespace-->
     <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
      <legacyModeNS>true</legacyModeNS>
    </plugin>

<!--
    <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1.0</updateRate>
      <timeout>5</timeout>
      <powerStateTopic>power_state</powerStateTopic>
      <powerStateRate>10.0</powerStateRate>
      <fullChargeCapacity>87.78</fullChargeCapacity>  <legacymodens>true</legacymodens>
<dischargeRate>-474</dischargeRate>
 </plugin>
 
   <chargeRate>525</chargeRate>
      <dischargeVoltage>15.52</dischargeVoltage>
      <chargeVoltage>16.41</chargeVoltage>
    </plugin>
-->
  </gazebo>
</robot></robot>