From 5569ca16b618cb85d89248b0a56a143f9b0ebdbd Mon Sep 17 00:00:00 2001
From: Pablo Moreno Vera <pablomvera14@gmail.com>
Date: Sun, 8 Jul 2018 18:19:12 +0200
Subject: [PATCH 01/16] Add files via upload

---
 .../meshes/Circuito_Nurburgrin.dae            | 3161 +++++++++++++++++
 .../meshes/Nurburgrin_Pared.dae               |  409 +++
 .../gazebo/models/nurburgrinLine/model.config |   16 +
 assets/gazebo/models/nurburgrinLine/model.sdf |   39 +
 4 files changed, 3625 insertions(+)
 create mode 100644 assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae
 create mode 100644 assets/gazebo/models/nurburgrinLine/meshes/Nurburgrin_Pared.dae
 create mode 100644 assets/gazebo/models/nurburgrinLine/model.config
 create mode 100644 assets/gazebo/models/nurburgrinLine/model.sdf

diff --git a/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae b/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae
new file mode 100644
index 000000000..13cd8f2c8
--- /dev/null
+++ b/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae
@@ -0,0 +1,3161 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>SketchUp 18.0.16975</authoring_tool>
+        </contributor>
+        <created>2018-07-05T09:44:00Z</created>
+        <modified>2018-07-05T09:44:00Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_cameras>
+        <camera id="ID1" name="skp_camera_Last_Saved_SketchUp_View">
+            <optics>
+                <technique_common>
+                    <perspective>
+                        <yfov>35</yfov>
+                        <aspect_ratio>0</aspect_ratio>
+                        <znear>1</znear>
+                        <zfar>1000</zfar>
+                    </perspective>
+                </technique_common>
+            </optics>
+        </camera>
+    </library_cameras>
+    <library_visual_scenes>
+        <visual_scene id="ID2">
+            <node name="SketchUp">
+                <instance_geometry url="#ID3">
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diff --git a/assets/gazebo/models/nurburgrinLine/meshes/Nurburgrin_Pared.dae b/assets/gazebo/models/nurburgrinLine/meshes/Nurburgrin_Pared.dae
new file mode 100644
index 000000000..ab3420017
--- /dev/null
+++ b/assets/gazebo/models/nurburgrinLine/meshes/Nurburgrin_Pared.dae
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+                </triangles>
+            </mesh>
+        </geometry>
+        <geometry id="ID37">
+            <mesh>
+                <source id="ID40">
+                    <float_array id="ID42" count="6">-126.1566 138.7666 0 -125.9921 138.798 0</float_array>
+                    <technique_common>
+                        <accessor count="2" source="#ID42" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID41">
+                    <input semantic="POSITION" source="#ID40" />
+                </vertices>
+                <lines count="1" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID41" />
+                    <p>1 0</p>
+                </lines>
+            </mesh>
+        </geometry>
+        <geometry id="ID43">
+            <mesh>
+                <source id="ID44">
+                    <float_array id="ID46" count="6">3451.162 -1648.903 3.492028 3451.1 -1648.97 3.492028</float_array>
+                    <technique_common>
+                        <accessor count="2" source="#ID46" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID45">
+                    <input semantic="POSITION" source="#ID44" />
+                </vertices>
+                <lines count="1" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID45" />
+                    <p>1 0</p>
+                </lines>
+            </mesh>
+        </geometry>
+        <geometry id="ID47">
+            <mesh>
+                <source id="ID50">
+                    <float_array id="ID52" count="6">-679.7492 -909.8986 0 -679.1459 -909.5928 0</float_array>
+                    <technique_common>
+                        <accessor count="2" source="#ID52" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID51">
+                    <input semantic="POSITION" source="#ID50" />
+                </vertices>
+                <lines count="1" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID51" />
+                    <p>1 0</p>
+                </lines>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_materials>
+        <material id="ID4" name="Color_M05">
+            <instance_effect url="#ID5" />
+        </material>
+        <material id="ID9" name="__auto_1">
+            <instance_effect url="#ID10" />
+        </material>
+        <material id="ID38" name="edge_color000255">
+            <instance_effect url="#ID39" />
+        </material>
+        <material id="ID48" name="edge_color114114114255">
+            <instance_effect url="#ID49" />
+        </material>
+    </library_materials>
+    <library_effects>
+        <effect id="ID5">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>0.4470588 0.4470588 0.4470588 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+        <effect id="ID10">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>0.2509804 0.2509804 0.2509804 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+        <effect id="ID39">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <constant>
+                        <transparent opaque="A_ONE">
+                            <color>0 0 0 1</color>
+                        </transparent>
+                        <transparency>
+                            <float>1</float>
+                        </transparency>
+                    </constant>
+                </technique>
+            </profile_COMMON>
+        </effect>
+        <effect id="ID49">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <constant>
+                        <transparent opaque="A_ONE">
+                            <color>0.4470588 0.4470588 0.4470588 1</color>
+                        </transparent>
+                        <transparency>
+                            <float>1</float>
+                        </transparency>
+                    </constant>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <scene>
+        <instance_visual_scene url="#ID2" />
+    </scene>
+</COLLADA>
diff --git a/assets/gazebo/models/nurburgrinLine/model.config b/assets/gazebo/models/nurburgrinLine/model.config
new file mode 100644
index 000000000..3b55d80be
--- /dev/null
+++ b/assets/gazebo/models/nurburgrinLine/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Nurburgrin</name>
+  <version>1.0</version>
+  <sdf version='1.5'>model.sdf</sdf>
+
+  <author>
+    <name>Pablo Moreno</name>
+    <email>pablomvera14@gmail.com</email>
+  </author>
+
+  <description>
+    The F1 Nurburgrin track without elevations and with a red line.
+  </description>
+</model>
diff --git a/assets/gazebo/models/nurburgrinLine/model.sdf b/assets/gazebo/models/nurburgrinLine/model.sdf
new file mode 100644
index 000000000..35dcd8d4d
--- /dev/null
+++ b/assets/gazebo/models/nurburgrinLine/model.sdf
@@ -0,0 +1,39 @@
+<?xml version='1.0'?>
+<sdf version="1.4">
+<model name="nulburgrin">
+  <static>true</static>
+  <link name="nulburgrin">
+    <pose>0 0 0 0 0 0</pose>
+    <collision name="collision">
+      <geometry>
+        <plane>
+          <size> 200 200</size>
+        </plane>
+      </geometry>
+    </collision>
+    <visual name="visual">
+      <geometry>
+        <mesh>
+          <uri>model://nurburgrinLine/meshes/Circuito_Nurburgrin.dae</uri>
+        </mesh>
+      </geometry>
+    </visual>
+  </link>
+  <link name="pared">
+    <collision name="collision">
+      <geometry>
+        <mesh>
+          <uri>model://nurburgrinLine/meshes/Nurburgrin_Pared.dae</uri>
+        </mesh>
+      </geometry>
+    </collision>
+    <visual name="visual">
+      <geometry>
+        <mesh>
+          <uri>model://nurburgrinLine/meshes/Nurburgrin_Pared.dae</uri>
+        </mesh>
+      </geometry>
+    </visual>
+  </link>
+</model>
+</sdf>

From 7e14f9a087302d952321b12298ad3304f621ed0b Mon Sep 17 00:00:00 2001
From: Pablo Moreno Vera <pablomvera14@gmail.com>
Date: Sun, 8 Jul 2018 18:20:01 +0200
Subject: [PATCH 02/16] Add files via upload

---
 assets/gazebo/worlds/nurburgrinLineROS.world | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)
 create mode 100644 assets/gazebo/worlds/nurburgrinLineROS.world

diff --git a/assets/gazebo/worlds/nurburgrinLineROS.world b/assets/gazebo/worlds/nurburgrinLineROS.world
new file mode 100644
index 000000000..288ce1501
--- /dev/null
+++ b/assets/gazebo/worlds/nurburgrinLineROS.world
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<sdf version="1.4">
+  <world name="default">
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <include>
+      <uri>model://nurburgrinLine</uri>
+      <pose>0 0 0 0 0 o</pose>
+    </include>
+    <include>
+      <uri>model://f1ROS</uri>
+      <pose>-58.7 28.3 0 0 0 -0.55</pose>
+    </include>
+  </world>
+</sdf>

From 254913ff8a380f6060ed30e35adfeff96bca6fa1 Mon Sep 17 00:00:00 2001
From: Pablo Moreno Vera <pablomvera14@gmail.com>
Date: Sat, 14 Jul 2018 17:16:20 +0200
Subject: [PATCH 03/16] Delete Circuito_Nurburgrin.dae

---
 .../meshes/Circuito_Nurburgrin.dae            | 3161 -----------------
 1 file changed, 3161 deletions(-)
 delete mode 100644 assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae

diff --git a/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae b/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae
deleted file mode 100644
index 13cd8f2c8..000000000
--- a/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae
+++ /dev/null
@@ -1,3161 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-    <asset>
-        <contributor>
-            <authoring_tool>SketchUp 18.0.16975</authoring_tool>
-        </contributor>
-        <created>2018-07-05T09:44:00Z</created>
-        <modified>2018-07-05T09:44:00Z</modified>
-        <unit meter="0.0254" name="inch" />
-        <up_axis>Z_UP</up_axis>
-    </asset>
-    <library_cameras>
-        <camera id="ID1" name="skp_camera_Last_Saved_SketchUp_View">
-            <optics>
-                <technique_common>
-                    <perspective>
-                        <yfov>35</yfov>
-                        <aspect_ratio>0</aspect_ratio>
-                        <znear>1</znear>
-                        <zfar>1000</zfar>
-                    </perspective>
-                </technique_common>
-            </optics>
-        </camera>
-    </library_cameras>
-    <library_visual_scenes>
-        <visual_scene id="ID2">
-            <node name="SketchUp">
-                <instance_geometry url="#ID3">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID4">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
-                </instance_geometry>
-                <instance_geometry url="#ID11">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID4">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
-                </instance_geometry>
-                <instance_geometry url="#ID17">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID4">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
-                </instance_geometry>
-                <instance_geometry url="#ID23">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID24">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
-                </instance_geometry>
-                <instance_geometry url="#ID31">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID32">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
-                </instance_geometry>
-                <instance_geometry url="#ID39">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID40">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
-                </instance_geometry>
-                <instance_geometry url="#ID47">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID4">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
-                </instance_geometry>
-                <instance_geometry url="#ID53">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID32">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
-                </instance_geometry>
-                <instance_geometry url="#ID59">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID32">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
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-                <instance_geometry url="#ID65">
-                    <bind_material>
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-                            <instance_material symbol="Material2" target="#ID4">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                            <instance_material symbol="Material3" target="#ID24">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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From 5de3f3593651f3ec75c36079297807aa073d50b8 Mon Sep 17 00:00:00 2001
From: Pablo Moreno Vera <pablomvera14@gmail.com>
Date: Sat, 14 Jul 2018 17:19:11 +0200
Subject: [PATCH 04/16] Updated circuit

---
 .../meshes/Circuito_Nurburgrin.dae            | 4190 +++++++++++++++++
 1 file changed, 4190 insertions(+)
 create mode 100644 assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae

diff --git a/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae b/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae
new file mode 100644
index 000000000..90adb6995
--- /dev/null
+++ b/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae
@@ -0,0 +1,4190 @@
+<?xml version="1.0" encoding="utf-8"?>
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+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2018-02-21, commit time:10:41, hash:8928d99270f</authoring_tool>
+    </contributor>
+    <created>2018-07-14T16:56:25</created>
+    <modified>2018-07-14T16:56:25</modified>
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+          </bind_material>
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+      </node>
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+          </bind_material>
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+      </node>
+      <node id="SketchUp_015" name="SketchUp_015" type="NODE">
+        <matrix sid="transform">0.0254 0 0 0 0 0.0254 0 0 0 0 0.0254 0 0 0 0 1</matrix>
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+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
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+</COLLADA>

From 09a6f6c692c606a61a27e15e253e8a582af0f60a Mon Sep 17 00:00:00 2001
From: PabloMorenoVera <pablomvera14@gmail.com>
Date: Tue, 17 Jul 2018 12:28:23 +0200
Subject: [PATCH 05/16] Added f1_redbull and f1_redbull_laser, both with camera

---
 .../f1_redbull/{Redbull => meshes}/Car.lwo    |   Bin
 .../f1_redbull/{Redbull => meshes}/Car.mtl    |     0
 .../f1_redbull/{Redbull => meshes}/Car.obj    |     0
 .../f1_redbull/{Redbull => meshes}/Wheel.lwo  |   Bin
 .../f1_redbull/{Redbull => meshes}/Wheel.mtl  |     0
 .../f1_redbull/{Redbull => meshes}/Wheel.obj  |     0
 .../{Redbull => meshes}/generic_main.png      |   Bin
 .../{Redbull => meshes}/generic_main.tga      |   Bin
 .../{Redbull => meshes}/generic_main_nm.png   |   Bin
 .../generic_main_specocc.png                  |   Bin
 .../f1_redbull/{Redbull => meshes}/glass.png  |   Bin
 .../f1_redbull/{Redbull => meshes}/glass.tga  |   Bin
 .../int_digi_placeholder.png                  |   Bin
 .../int_digi_placeholder.tga                  |   Bin
 .../{Redbull => meshes}/int_digi_tach.png     |   Bin
 .../{Redbull => meshes}/int_digi_tach.tga     |   Bin
 .../{Redbull => meshes}/int_indicator.png     |   Bin
 .../{Redbull => meshes}/int_indicator.tga     |   Bin
 .../{Redbull => meshes}/int_info_pod.png      |   Bin
 .../{Redbull => meshes}/int_info_pod.tga      |   Bin
 .../{Redbull => meshes}/int_led.png           |   Bin
 .../{Redbull => meshes}/int_led.tga           |   Bin
 .../{Redbull => meshes}/int_rb0_main.png      |   Bin
 .../{Redbull => meshes}/int_rb0_main.tga      |   Bin
 .../{Redbull => meshes}/light_glow.png        |   Bin
 .../{Redbull => meshes}/light_glow.tga        |   Bin
 .../{Redbull => meshes}/rb0_main.png          |   Bin
 .../{Redbull => meshes}/rb0_main.tga          |   Bin
 .../{Redbull => meshes}/rb0_wheel.png         |   Bin
 .../{Redbull => meshes}/rb0_wheel.tga         |   Bin
 .../{Redbull => meshes}/tread_slick.png       |   Bin
 .../{Redbull => meshes}/tread_slick.tga       |   Bin
 .../{Redbull => meshes}/tread_slick_nm.png    |   Bin
 .../tread_slick_specocc.png                   |   Bin
 .../f1_redbull/{Redbull => meshes}/tyre.png   |   Bin
 .../f1_redbull/{Redbull => meshes}/tyre.tga   |   Bin
 .../{Redbull => meshes}/tyre_nm.png           |   Bin
 .../{Redbull => meshes}/tyre_specocc.png      |   Bin
 assets/gazebo/models/f1_redbull/model.sdf     |   368 +-
 .../models/f1_redbull_laser/Redbull/Car.lwo   |   Bin 0 -> 993152 bytes
 .../models/f1_redbull_laser/Redbull/Car.mtl   |    68 +
 .../models/f1_redbull_laser/Redbull/Car.obj   | 97791 ++++++++++++++++
 .../models/f1_redbull_laser/Redbull/Wheel.lwo |   Bin 0 -> 273426 bytes
 .../models/f1_redbull_laser/Redbull/Wheel.mtl |   118 +
 .../models/f1_redbull_laser/Redbull/Wheel.obj | 25733 ++++
 .../f1_redbull_laser/Redbull/generic_main.png |   Bin 0 -> 583468 bytes
 .../f1_redbull_laser/Redbull/generic_main.tga |   Bin 0 -> 2349280 bytes
 .../Redbull/generic_main_nm.png               |   Bin 0 -> 211101 bytes
 .../Redbull/generic_main_specocc.png          |   Bin 0 -> 241185 bytes
 .../models/f1_redbull_laser/Redbull/glass.png |   Bin 0 -> 17867 bytes
 .../models/f1_redbull_laser/Redbull/glass.tga |   Bin 0 -> 69124 bytes
 .../Redbull/int_digi_placeholder.png          |   Bin 0 -> 1487 bytes
 .../Redbull/int_digi_placeholder.tga          |   Bin 0 -> 7086 bytes
 .../Redbull/int_digi_tach.png                 |   Bin 0 -> 26234 bytes
 .../Redbull/int_digi_tach.tga                 |   Bin 0 -> 66433 bytes
 .../Redbull/int_indicator.png                 |   Bin 0 -> 10165 bytes
 .../Redbull/int_indicator.tga                 |   Bin 0 -> 22721 bytes
 .../f1_redbull_laser/Redbull/int_info_pod.png |   Bin 0 -> 54070 bytes
 .../f1_redbull_laser/Redbull/int_info_pod.tga |   Bin 0 -> 163893 bytes
 .../f1_redbull_laser/Redbull/int_led.png      |   Bin 0 -> 12062 bytes
 .../f1_redbull_laser/Redbull/int_led.tga      |   Bin 0 -> 36182 bytes
 .../f1_redbull_laser/Redbull/int_rb0_main.png |   Bin 0 -> 907421 bytes
 .../f1_redbull_laser/Redbull/int_rb0_main.tga |   Bin 0 -> 2764952 bytes
 .../f1_redbull_laser/Redbull/light_glow.png   |   Bin 0 -> 4572 bytes
 .../f1_redbull_laser/Redbull/light_glow.tga   |   Bin 0 -> 21036 bytes
 .../f1_redbull_laser/Redbull/rb0_main.png     |   Bin 0 -> 2361370 bytes
 .../f1_redbull_laser/Redbull/rb0_main.tga     |   Bin 0 -> 7884526 bytes
 .../f1_redbull_laser/Redbull/rb0_wheel.png    |   Bin 0 -> 157122 bytes
 .../f1_redbull_laser/Redbull/rb0_wheel.tga    |   Bin 0 -> 438340 bytes
 .../f1_redbull_laser/Redbull/tread_slick.png  |   Bin 0 -> 78858 bytes
 .../f1_redbull_laser/Redbull/tread_slick.tga  |   Bin 0 -> 281114 bytes
 .../Redbull/tread_slick_nm.png                |   Bin 0 -> 219541 bytes
 .../Redbull/tread_slick_specocc.png           |   Bin 0 -> 76140 bytes
 .../models/f1_redbull_laser/Redbull/tyre.png  |   Bin 0 -> 106955 bytes
 .../models/f1_redbull_laser/Redbull/tyre.tga  |   Bin 0 -> 386482 bytes
 .../f1_redbull_laser/Redbull/tyre_nm.png      |   Bin 0 -> 341873 bytes
 .../f1_redbull_laser/Redbull/tyre_specocc.png |   Bin 0 -> 75787 bytes
 .../models/f1_redbull_laser/model.config      |    16 +
 .../gazebo/models/f1_redbull_laser/model.sdf  |   298 +
 .../meshes/Circuito_Nurburgrin.dae            |  7872 +-
 .../meshes/Grass_Dark_Green.jpg               |   Bin 0 -> 56854 bytes
 .../meshes/Nurburgrin_Pared.dae               |   229 +-
 .../models/nurburgrinLine/meshes/__auto_1.jpg |   Bin 0 -> 4811 bytes
 .../nurburgrinLine/meshes/__auto_12.jpg       |   Bin 0 -> 8298 bytes
 .../models/nurburgrinLine/meshes/__auto_2.JPG |   Bin 0 -> 2398 bytes
 .../models/nurburgrinLine/meshes/__auto_3.jpg |   Bin 0 -> 9555 bytes
 .../models/nurburgrinLine/meshes/__auto_4.jpg |   Bin 0 -> 18120 bytes
 .../models/nurburgrinLine/meshes/__auto_7.jpg |   Bin 0 -> 9802 bytes
 .../models/nurburgrinLine/meshes/__auto_8.png |   Bin 0 -> 19558 bytes
 .../models/nurburgrinLine/meshes/__auto_9.jpg |   Bin 0 -> 2104 bytes
 assets/gazebo/models/nurburgrinLine/model.sdf |     3 +
 assets/gazebo/worlds/nurburgrinLineROS.world  |     4 +-
 92 files changed, 128137 insertions(+), 4363 deletions(-)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/Car.lwo (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/Car.mtl (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/Car.obj (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/Wheel.lwo (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/Wheel.mtl (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/Wheel.obj (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/generic_main.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/generic_main.tga (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/generic_main_nm.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/generic_main_specocc.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/glass.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/glass.tga (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/int_digi_placeholder.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/int_digi_placeholder.tga (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/int_digi_tach.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/int_digi_tach.tga (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/int_indicator.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/int_indicator.tga (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/int_info_pod.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/int_info_pod.tga (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/int_led.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/int_led.tga (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/int_rb0_main.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/int_rb0_main.tga (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/light_glow.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/light_glow.tga (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/rb0_main.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/rb0_main.tga (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/rb0_wheel.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/rb0_wheel.tga (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/tread_slick.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/tread_slick.tga (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/tread_slick_nm.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/tread_slick_specocc.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/tyre.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/tyre.tga (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/tyre_nm.png (100%)
 rename assets/gazebo/models/f1_redbull/{Redbull => meshes}/tyre_specocc.png (100%)
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/Car.lwo
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/Car.mtl
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/Car.obj
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/Wheel.lwo
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/Wheel.mtl
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/Wheel.obj
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/generic_main.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/generic_main.tga
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/generic_main_nm.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/generic_main_specocc.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/glass.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/glass.tga
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/int_digi_placeholder.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/int_digi_placeholder.tga
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/int_digi_tach.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/int_digi_tach.tga
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/int_indicator.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/int_indicator.tga
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/int_info_pod.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/int_info_pod.tga
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/int_led.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/int_led.tga
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/int_rb0_main.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/int_rb0_main.tga
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/light_glow.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/light_glow.tga
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/rb0_main.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/rb0_main.tga
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/rb0_wheel.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/rb0_wheel.tga
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/tread_slick.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/tread_slick.tga
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/tread_slick_nm.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/tread_slick_specocc.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/tyre.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/tyre.tga
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/tyre_nm.png
 create mode 100755 assets/gazebo/models/f1_redbull_laser/Redbull/tyre_specocc.png
 create mode 100644 assets/gazebo/models/f1_redbull_laser/model.config
 create mode 100644 assets/gazebo/models/f1_redbull_laser/model.sdf
 create mode 100644 assets/gazebo/models/nurburgrinLine/meshes/Grass_Dark_Green.jpg
 create mode 100644 assets/gazebo/models/nurburgrinLine/meshes/__auto_1.jpg
 create mode 100644 assets/gazebo/models/nurburgrinLine/meshes/__auto_12.jpg
 create mode 100644 assets/gazebo/models/nurburgrinLine/meshes/__auto_2.JPG
 create mode 100644 assets/gazebo/models/nurburgrinLine/meshes/__auto_3.jpg
 create mode 100644 assets/gazebo/models/nurburgrinLine/meshes/__auto_4.jpg
 create mode 100644 assets/gazebo/models/nurburgrinLine/meshes/__auto_7.jpg
 create mode 100644 assets/gazebo/models/nurburgrinLine/meshes/__auto_8.png
 create mode 100644 assets/gazebo/models/nurburgrinLine/meshes/__auto_9.jpg

diff --git a/assets/gazebo/models/f1_redbull/Redbull/Car.lwo b/assets/gazebo/models/f1_redbull/meshes/Car.lwo
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/Car.lwo
rename to assets/gazebo/models/f1_redbull/meshes/Car.lwo
diff --git a/assets/gazebo/models/f1_redbull/Redbull/Car.mtl b/assets/gazebo/models/f1_redbull/meshes/Car.mtl
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/Car.mtl
rename to assets/gazebo/models/f1_redbull/meshes/Car.mtl
diff --git a/assets/gazebo/models/f1_redbull/Redbull/Car.obj b/assets/gazebo/models/f1_redbull/meshes/Car.obj
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/Car.obj
rename to assets/gazebo/models/f1_redbull/meshes/Car.obj
diff --git a/assets/gazebo/models/f1_redbull/Redbull/Wheel.lwo b/assets/gazebo/models/f1_redbull/meshes/Wheel.lwo
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/Wheel.lwo
rename to assets/gazebo/models/f1_redbull/meshes/Wheel.lwo
diff --git a/assets/gazebo/models/f1_redbull/Redbull/Wheel.mtl b/assets/gazebo/models/f1_redbull/meshes/Wheel.mtl
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/Wheel.mtl
rename to assets/gazebo/models/f1_redbull/meshes/Wheel.mtl
diff --git a/assets/gazebo/models/f1_redbull/Redbull/Wheel.obj b/assets/gazebo/models/f1_redbull/meshes/Wheel.obj
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/Wheel.obj
rename to assets/gazebo/models/f1_redbull/meshes/Wheel.obj
diff --git a/assets/gazebo/models/f1_redbull/Redbull/generic_main.png b/assets/gazebo/models/f1_redbull/meshes/generic_main.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/generic_main.png
rename to assets/gazebo/models/f1_redbull/meshes/generic_main.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/generic_main.tga b/assets/gazebo/models/f1_redbull/meshes/generic_main.tga
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/generic_main.tga
rename to assets/gazebo/models/f1_redbull/meshes/generic_main.tga
diff --git a/assets/gazebo/models/f1_redbull/Redbull/generic_main_nm.png b/assets/gazebo/models/f1_redbull/meshes/generic_main_nm.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/generic_main_nm.png
rename to assets/gazebo/models/f1_redbull/meshes/generic_main_nm.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/generic_main_specocc.png b/assets/gazebo/models/f1_redbull/meshes/generic_main_specocc.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/generic_main_specocc.png
rename to assets/gazebo/models/f1_redbull/meshes/generic_main_specocc.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/glass.png b/assets/gazebo/models/f1_redbull/meshes/glass.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/glass.png
rename to assets/gazebo/models/f1_redbull/meshes/glass.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/glass.tga b/assets/gazebo/models/f1_redbull/meshes/glass.tga
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/glass.tga
rename to assets/gazebo/models/f1_redbull/meshes/glass.tga
diff --git a/assets/gazebo/models/f1_redbull/Redbull/int_digi_placeholder.png b/assets/gazebo/models/f1_redbull/meshes/int_digi_placeholder.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/int_digi_placeholder.png
rename to assets/gazebo/models/f1_redbull/meshes/int_digi_placeholder.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/int_digi_placeholder.tga b/assets/gazebo/models/f1_redbull/meshes/int_digi_placeholder.tga
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/int_digi_placeholder.tga
rename to assets/gazebo/models/f1_redbull/meshes/int_digi_placeholder.tga
diff --git a/assets/gazebo/models/f1_redbull/Redbull/int_digi_tach.png b/assets/gazebo/models/f1_redbull/meshes/int_digi_tach.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/int_digi_tach.png
rename to assets/gazebo/models/f1_redbull/meshes/int_digi_tach.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/int_digi_tach.tga b/assets/gazebo/models/f1_redbull/meshes/int_digi_tach.tga
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/int_digi_tach.tga
rename to assets/gazebo/models/f1_redbull/meshes/int_digi_tach.tga
diff --git a/assets/gazebo/models/f1_redbull/Redbull/int_indicator.png b/assets/gazebo/models/f1_redbull/meshes/int_indicator.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/int_indicator.png
rename to assets/gazebo/models/f1_redbull/meshes/int_indicator.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/int_indicator.tga b/assets/gazebo/models/f1_redbull/meshes/int_indicator.tga
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/int_indicator.tga
rename to assets/gazebo/models/f1_redbull/meshes/int_indicator.tga
diff --git a/assets/gazebo/models/f1_redbull/Redbull/int_info_pod.png b/assets/gazebo/models/f1_redbull/meshes/int_info_pod.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/int_info_pod.png
rename to assets/gazebo/models/f1_redbull/meshes/int_info_pod.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/int_info_pod.tga b/assets/gazebo/models/f1_redbull/meshes/int_info_pod.tga
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/int_info_pod.tga
rename to assets/gazebo/models/f1_redbull/meshes/int_info_pod.tga
diff --git a/assets/gazebo/models/f1_redbull/Redbull/int_led.png b/assets/gazebo/models/f1_redbull/meshes/int_led.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/int_led.png
rename to assets/gazebo/models/f1_redbull/meshes/int_led.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/int_led.tga b/assets/gazebo/models/f1_redbull/meshes/int_led.tga
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/int_led.tga
rename to assets/gazebo/models/f1_redbull/meshes/int_led.tga
diff --git a/assets/gazebo/models/f1_redbull/Redbull/int_rb0_main.png b/assets/gazebo/models/f1_redbull/meshes/int_rb0_main.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/int_rb0_main.png
rename to assets/gazebo/models/f1_redbull/meshes/int_rb0_main.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/int_rb0_main.tga b/assets/gazebo/models/f1_redbull/meshes/int_rb0_main.tga
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/int_rb0_main.tga
rename to assets/gazebo/models/f1_redbull/meshes/int_rb0_main.tga
diff --git a/assets/gazebo/models/f1_redbull/Redbull/light_glow.png b/assets/gazebo/models/f1_redbull/meshes/light_glow.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/light_glow.png
rename to assets/gazebo/models/f1_redbull/meshes/light_glow.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/light_glow.tga b/assets/gazebo/models/f1_redbull/meshes/light_glow.tga
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/light_glow.tga
rename to assets/gazebo/models/f1_redbull/meshes/light_glow.tga
diff --git a/assets/gazebo/models/f1_redbull/Redbull/rb0_main.png b/assets/gazebo/models/f1_redbull/meshes/rb0_main.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/rb0_main.png
rename to assets/gazebo/models/f1_redbull/meshes/rb0_main.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/rb0_main.tga b/assets/gazebo/models/f1_redbull/meshes/rb0_main.tga
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/rb0_main.tga
rename to assets/gazebo/models/f1_redbull/meshes/rb0_main.tga
diff --git a/assets/gazebo/models/f1_redbull/Redbull/rb0_wheel.png b/assets/gazebo/models/f1_redbull/meshes/rb0_wheel.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/rb0_wheel.png
rename to assets/gazebo/models/f1_redbull/meshes/rb0_wheel.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/rb0_wheel.tga b/assets/gazebo/models/f1_redbull/meshes/rb0_wheel.tga
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/rb0_wheel.tga
rename to assets/gazebo/models/f1_redbull/meshes/rb0_wheel.tga
diff --git a/assets/gazebo/models/f1_redbull/Redbull/tread_slick.png b/assets/gazebo/models/f1_redbull/meshes/tread_slick.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/tread_slick.png
rename to assets/gazebo/models/f1_redbull/meshes/tread_slick.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/tread_slick.tga b/assets/gazebo/models/f1_redbull/meshes/tread_slick.tga
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/tread_slick.tga
rename to assets/gazebo/models/f1_redbull/meshes/tread_slick.tga
diff --git a/assets/gazebo/models/f1_redbull/Redbull/tread_slick_nm.png b/assets/gazebo/models/f1_redbull/meshes/tread_slick_nm.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/tread_slick_nm.png
rename to assets/gazebo/models/f1_redbull/meshes/tread_slick_nm.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/tread_slick_specocc.png b/assets/gazebo/models/f1_redbull/meshes/tread_slick_specocc.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/tread_slick_specocc.png
rename to assets/gazebo/models/f1_redbull/meshes/tread_slick_specocc.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/tyre.png b/assets/gazebo/models/f1_redbull/meshes/tyre.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/tyre.png
rename to assets/gazebo/models/f1_redbull/meshes/tyre.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/tyre.tga b/assets/gazebo/models/f1_redbull/meshes/tyre.tga
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/tyre.tga
rename to assets/gazebo/models/f1_redbull/meshes/tyre.tga
diff --git a/assets/gazebo/models/f1_redbull/Redbull/tyre_nm.png b/assets/gazebo/models/f1_redbull/meshes/tyre_nm.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/tyre_nm.png
rename to assets/gazebo/models/f1_redbull/meshes/tyre_nm.png
diff --git a/assets/gazebo/models/f1_redbull/Redbull/tyre_specocc.png b/assets/gazebo/models/f1_redbull/meshes/tyre_specocc.png
similarity index 100%
rename from assets/gazebo/models/f1_redbull/Redbull/tyre_specocc.png
rename to assets/gazebo/models/f1_redbull/meshes/tyre_specocc.png
diff --git a/assets/gazebo/models/f1_redbull/model.sdf b/assets/gazebo/models/f1_redbull/model.sdf
index 1aba57cb6..1d8d8bb15 100644
--- a/assets/gazebo/models/f1_redbull/model.sdf
+++ b/assets/gazebo/models/f1_redbull/model.sdf
@@ -4,8 +4,8 @@
   <pose>0 0 0 0 0 0</pose>
   <static>false</static>
     <link name="f1">
-    	<pose>0 0 0 0 0 0</pose>
-	<inertial>
+	    <pose>0 0 0 0 0 0</pose>
+      <inertial>
         <mass>10</mass>
         <inertia>
           <ixx>1</ixx>
@@ -14,15 +14,15 @@
           <ixz>0.0</ixz>
           <iyz>0.0</iyz>
           <izz>1.0</izz>
-      </inertia>
-    </inertial>
+        </inertia>
+      </inertial>
     <collision name="collision">
-        <geometry>
-            <mesh>
-                 <uri>model://f1_redbull/Redbull/Car.obj</uri>
-                 <scale>0.2 0.2 0.2</scale>
-            </mesh>
-        </geometry>
+      <geometry>
+        <mesh>
+          <uri>model://f1_redbull/Redbull/Car.obj</uri>
+          <scale>0.2 0.2 0.2</scale>
+        </mesh>
+      </geometry>
     </collision>
     <visual name="visual">
         <geometry>
@@ -32,106 +32,260 @@
         </mesh>
       </geometry>
     </visual>
-    </link>
+  </link>
+
+  <link name='camera_top_body_left'>
+    <pose>0.45000 0.040000 0.1000000 0.000000 -0.000000 0.0000000</pose>
+    <inertial>
+      <mass>2</mass>
+      <inertia>
+        <ixx>1.000000</ixx>
+        <ixy>0.000000</ixy>
+        <ixz>0.000000</ixz>
+        <iyy>1.000000</iyy>
+        <iyz>0.000000</iyz>
+        <izz>1.000000</izz>
+      </inertia>
+    </inertial>
+    <sensor name='cam_f1_left' type='camera'>
+      <pose>0.000000 0.000000 0.000000 0.000000 0.00000 0.00000</pose>
+      <update_rate>20.000000</update_rate>
+      <camera name='cleft'>
+        <horizontal_fov>1.570000</horizontal_fov>
+        <image>
+          <width>640</width>
+          <height>480</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.100000</near>
+          <far>15.000000</far>
+        </clip>
+      </camera>
+      <plugin name="camera_controller_left" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>F1ROS/cameraL</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>camera_top_body_left</frameName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+    <visual name='visual'>
+      <geometry>
+        <sphere>
+          <radius>.005</radius>
+        </sphere>
+      </geometry>
+    </visual>
+    <collision name='collision'>
+      <geometry>
+        <box>
+          <size>0.100000 0.100000 0.100000</size>
+        </box>
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>100000.000000</mu>
+            <mu2>100000.000000</mu2>
+            <slip1>0.000000</slip1>
+            <slip2>0.000000</slip2>
+          </ode>
+        </friction>
+      </surface>
+      <max_contacts>10</max_contacts>
+    </collision>
+    <velocity_decay>
+      <linear>0.000000</linear>
+      <angular>0.000000</angular>
+    </velocity_decay>
+    <self_collide>0</self_collide>
+    <kinematic>0</kinematic>
+    <gravity>1</gravity>
+  </link>
+
+  <link name='camera_top_body_right'>
+    <pose>0.45000 -0.040000 0.1000000 0.000000 -0.000000 0.0000000</pose>
+    <inertial>
+      <mass>2</mass>
+      <inertia>
+        <ixx>1.000000</ixx>
+        <ixy>0.000000</ixy>
+        <ixz>0.000000</ixz>
+        <iyy>1.000000</iyy>
+        <iyz>0.000000</iyz>
+        <izz>1.000000</izz>
+      </inertia>
+    </inertial>
+    <sensor name='cam_f1_right' type='camera'>
+      <pose>0.000000 0.000000 0.000000 0.000000 0.00000 0.00000</pose>
+      <update_rate>20.000000</update_rate>
+      <camera name='cright'>
+        <horizontal_fov>1.570000</horizontal_fov>
+        <image>
+          <width>640</width>
+          <height>480</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.100000</near>
+          <far>15.000000</far>
+        </clip>
+      </camera>
+  		<plugin name="camera_controller_right" filename="libgazebo_ros_camera.so">
+  			<alwaysOn>true</alwaysOn>
+  			<updateRate>0.0</updateRate>
+  			<cameraName>F1ROS/cameraR</cameraName>
+  			<imageTopicName>image_raw</imageTopicName>
+  			<cameraInfoTopicName>camera_info</cameraInfoTopicName>
+  			<frameName>camera_top_body_right</frameName>
+  			<hackBaseline>0.07</hackBaseline>
+  			<distortionK1>0.0</distortionK1>
+  			<distortionK2>0.0</distortionK2>
+  			<distortionK3>0.0</distortionK3>
+  			<distortionT1>0.0</distortionT1>
+  			<distortionT2>0.0</distortionT2>
+  		</plugin>
+    </sensor>
+    <visual name='visual'>
+      <geometry>
+        <sphere>
+          <radius>.005</radius>
+        </sphere>
+      </geometry>
+    </visual>
+    <collision name='collision'>
+      <geometry>
+        <box>
+          <size>0.100000 0.100000 0.100000</size>
+        </box>
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>100000.000000</mu>
+            <mu2>100000.000000</mu2>
+            <slip1>0.000000</slip1>
+            <slip2>0.000000</slip2>
+          </ode>
+        </friction>
+      </surface>
+      <max_contacts>10</max_contacts>
+    </collision>
+    <velocity_decay>
+      <linear>0.000000</linear>
+      <angular>0.000000</angular>
+    </velocity_decay>
+    <self_collide>0</self_collide>
+    <kinematic>0</kinematic>
+    <gravity>1</gravity>
+  </link>
 
   <link name='laser'>
-        <pose>0.500000 0.000000 0.072000 0.000000 0.000000 0.00000</pose>
-        <gravity>0</gravity>
-        <inertial>
-          <mass>1</mass>
-          <inertia>
-            <ixx>1.000000</ixx>
-            <ixy>0.000000</ixy>
-            <ixz>0.000000</ixz>
-            <iyy>1.000000</iyy>
-            <iyz>0.000000</iyz>
-            <izz>1.000000</izz>
-        </inertia>
-      </inertial>
-        <visual name='visual'>
-          <geometry>
-            <mesh>
-              <uri>model://f1ROS/meshes/hokuyo.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-        <collision name='collision-base'>
-          <pose>0.000000 0.000000 -0.014500 0.000000 0.000000 0.000000</pose>
-          <geometry>
-            <box>
-              <size>0.050000 0.050000 0.041000</size>
-          </box>
-        </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <bounce/>
-            <friction>
-              <ode/>
-          </friction>
-            <contact>
-              <ode/>
-          </contact>
-        </surface>
-      </collision>
-        <collision name='collision-top'>
-          <pose>0.000000 0.000000 0.020500 0.000000 0.000000 0.000000</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.021000</radius>
-              <length>0.029000</length>
-          </cylinder>
-        </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <bounce/>
-            <friction>
-              <ode/>
-          </friction>
-            <contact>
-              <ode/>
-          </contact>
-        </surface>
-      </collision>
-        <sensor name='laser' type='ray'>
-          <ray>
-            <scan>
-              <horizontal>
-                <samples>180</samples>
-                <resolution>1.000000</resolution>
-                <min_angle>-1.570000</min_angle>
-                <max_angle>1.570000</max_angle>
-            </horizontal>
-          </scan>
-            <range>
-              <min>0.080000</min>
-              <max>10.000000</max>
-              <resolution>0.010000</resolution>
-          </range>
-        </ray>
-          <update_rate>20.000000</update_rate>
-		<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
-			<topicName>/F1ROS/laser/scan</topicName>
-			<frameName>laser</frameName>
-		</plugin>
-          <always_on>1</always_on>
-          <visualize>1</visualize>
-      </sensor>
-        <velocity_decay>
-          <linear>0.000000</linear>
-          <angular>0.000000</angular>
-      </velocity_decay>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-    </link>
+    <pose>0.500000 0.000000 0.072000 0.000000 0.000000 0.00000</pose>
+    <gravity>0</gravity>
+    <inertial>
+      <mass>1</mass>
+      <inertia>
+        <ixx>1.000000</ixx>
+        <ixy>0.000000</ixy>
+        <ixz>0.000000</ixz>
+        <iyy>1.000000</iyy>
+        <iyz>0.000000</iyz>
+        <izz>1.000000</izz>
+      </inertia>
+    </inertial>
+    <visual name='visual'>
+      <geometry>
+        <mesh>
+          <uri>model://f1ROS/meshes/hokuyo.dae</uri>
+        </mesh>
+      </geometry>
+    </visual>
+    <collision name='collision-base'>
+      <pose>0.000000 0.000000 -0.014500 0.000000 0.000000 0.000000</pose>
+      <geometry>
+        <box>
+          <size>0.050000 0.050000 0.041000</size>
+        </box>
+      </geometry>
+      <max_contacts>10</max_contacts>
+    </collision>
+    <collision name='collision-top'>
+      <pose>0.000000 0.000000 0.020500 0.000000 0.000000 0.000000</pose>
+      <geometry>
+        <cylinder>
+          <radius>0.021000</radius>
+          <length>0.029000</length>
+        </cylinder>
+      </geometry>
+      <max_contacts>10</max_contacts>
+    </collision>
+    <sensor name='laser' type='ray'>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>180</samples>
+            <resolution>1.000000</resolution>
+            <min_angle>-1.570000</min_angle>
+            <max_angle>1.570000</max_angle>
+          </horizontal>
+        </scan>
+        <range>
+          <min>0.080000</min>
+          <max>10.000000</max>
+          <resolution>0.010000</resolution>
+        </range>
+      </ray>
+      <update_rate>20.000000</update_rate>
+	    <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
+		    <topicName>/F1ROS/laser/scan</topicName>
+		    <frameName>laser</frameName>
+	    </plugin>
+      <always_on>0</always_on>
+      <visualize>0</visualize>
+    </sensor>
+    <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+    </velocity_decay>
+    <self_collide>0</self_collide>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint type="revolute" name="laser_joint">
+      <pose>0 0 0 0 0 0</pose>
+      <child>laser</child>
+      <parent>f1</parent>
+      <axis>
+          <xyz>0 0 0</xyz>
+      </axis>
+  </joint>
+
+  <joint type="revolute" name="camera_left">
+      <pose>0 0 0 0 0 0</pose>
+      <child>camera_top_body_left</child>
+      <parent>f1</parent>
+      <axis>
+        <xyz>0 0 0</xyz>
+    </axis>
+  </joint>
 
-    <joint type="revolute" name="laser_joint">
-        <pose>0 0 0 0 0 0</pose>
-        <child>laser</child>
-        <parent>f1</parent>
-        <axis>
-            <xyz>0 0 0</xyz>
-        </axis>
-    </joint>
+  <joint type="revolute" name="camera_right">
+      <pose>0 0 0 0 0 0</pose>
+      <child>camera_top_body_right</child>
+      <parent>f1</parent>
+      <axis>
+        <xyz>0 0 0</xyz>
+    </axis>
+  </joint>
 
   <plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
       <commandTopic>F1ROS/cmd_vel</commandTopic>
diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/Car.lwo b/assets/gazebo/models/f1_redbull_laser/Redbull/Car.lwo
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diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/Car.mtl b/assets/gazebo/models/f1_redbull_laser/Redbull/Car.mtl
new file mode 100755
index 000000000..696a5d0c6
--- /dev/null
+++ b/assets/gazebo/models/f1_redbull_laser/Redbull/Car.mtl
@@ -0,0 +1,68 @@
+# Blender MTL File: 'None'
+# Material Count: 6
+
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diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/Car.obj b/assets/gazebo/models/f1_redbull_laser/Redbull/Car.obj
new file mode 100755
index 000000000..dfe3480b0
--- /dev/null
+++ b/assets/gazebo/models/f1_redbull_laser/Redbull/Car.obj
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diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/Wheel.mtl b/assets/gazebo/models/f1_redbull_laser/Redbull/Wheel.mtl
new file mode 100755
index 000000000..b3530daa7
--- /dev/null
+++ b/assets/gazebo/models/f1_redbull_laser/Redbull/Wheel.mtl
@@ -0,0 +1,118 @@
+# 
+# Wavefront material file
+# Converted by the DEEP Exploration  Deep Exploration 6.1 x64 6.1.2.6638
+# Right Hemisphere, LTD
+# http://www.righthemisphere.com/
+# 
+
+newmtl mirrors
+Ka 0 0 0
+Kd 1 1 1
+Ks 0 0 0
+illum 2
+Ns 2
+map_Kd 
+map_bump 
+bump 
+map_opacity 
+map_d 
+refl 
+map_kS 
+map_kA 
+map_Ns 
+
+newmtl flag
+Ka 0 0 0
+Kd 1 1 1
+Ks 0 0 0
+illum 2
+Ns 2
+map_Kd int_indicator.tga
+map_bump 
+bump 
+map_opacity 
+map_d 
+refl 
+map_kS 
+map_kA 
+map_Ns 
+
+newmtl digi
+Ka 0 0 0
+Kd 1 1 1
+Ks 0 0 0
+illum 2
+Ns 2
+map_Kd int_digi_tach.tga
+map_bump 
+bump 
+map_opacity 
+map_d 
+refl 
+map_kS 
+map_kA 
+map_Ns 
+
+newmtl digi0
+Ka 0 0 0
+Kd 1 1 1
+Ks 0 0 0
+illum 2
+Ns 2
+map_Kd int_digi_placeholder.tga
+map_bump 
+bump 
+map_opacity 
+map_d 
+refl 
+map_kS 
+map_kA 
+map_Ns 
+
+newmtl info
+Ka 0 0 0
+Kd 1 1 1
+Ks 0 0 0
+illum 2
+Ns 2
+map_Kd int_info_pod.tga
+map_bump 
+bump 
+map_opacity 
+map_d 
+refl 
+map_kS 
+map_kA 
+map_Ns 
+
+newmtl led
+Ka 0 0 0
+Kd 1 1 1
+Ks 0 0 0
+illum 2
+Ns 2
+map_Kd int_led.tga
+map_bump 
+bump 
+map_opacity 
+map_d 
+refl 
+map_kS 
+map_kA 
+map_Ns 
+
+newmtl steering
+Ka 0 0 0
+Kd 1 1 1
+Ks 0 0 0
+illum 2
+Ns 2
+map_Kd int_rb0_main.tga
+map_bump 
+bump 
+map_opacity 
+map_d 
+refl 
+map_kS 
+map_kA 
+map_Ns 
diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/Wheel.obj b/assets/gazebo/models/f1_redbull_laser/Redbull/Wheel.obj
new file mode 100755
index 000000000..999c80110
--- /dev/null
+++ b/assets/gazebo/models/f1_redbull_laser/Redbull/Wheel.obj
@@ -0,0 +1,25733 @@
+# 
+# Wavefront OBJ file
+# Converted by the DEEP Exploration Deep Exploration 6.1 x64 6.1.2.6638
+# Right Hemisphere, LTD
+# http://www.righthemisphere.com/
+# 
+mtllib Wheel.mtl
+# object object #0
+g object__0
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+v 0.56602 -0.52383 0.69279
+v 0.68574 -0.45177 0.69279
+v 0.68962 -0.44944 0.64510
+v 0.68574 -0.45177 0.64398
+v 0.56602 -0.52383 0.64398
+v 0.69202 -0.44799 0.64767
+v 0.69307 -0.44736 0.65180
+v 0.69307 -0.44736 0.68497
+v 0.69202 -0.44799 0.68911
+v 0.68962 -0.44944 0.69167
+v 0.56214 -0.52617 0.64510
+v 0.55973 -0.52762 0.64767
+v 0.55868 -0.52825 0.65180
+v 0.55868 -0.52825 0.68497
+v 0.55973 -0.52762 0.68911
+# 16 verticies
+vt 0.49243 0.97705
+vt 0.47803 1.00000
+vt 0.03259 1.00000
+vt 0.01816 0.02295
+vt 0.03259 0.00000
+vt 0.47803 0.00000
+vt 0.00920 0.07568
+vt 0.00529 0.16016
+vt 0.00529 0.83972
+vt 0.00920 0.92444
+vt 0.01816 0.97704
+vt 0.49243 0.02295
+vt 0.50147 0.07568
+vt 0.50537 0.16016
+vt 0.50537 0.83972
+vt 0.50147 0.92444
+# 16 texture verticies
+vn -0.51570 0.85677 -0.00002
+vn -0.51570 0.85677 0.00004
+vn -0.51570 0.85677 0.00004
+vn -0.51570 0.85677 -0.00000
+vn -0.51570 0.85677 -0.00000
+vn -0.51570 0.85677 -0.00000
+vn -0.51571 0.85677 0.00001
+vn -0.51570 0.85677 -0.00001
+vn -0.51571 0.85677 0.00001
+vn -0.51571 0.85676 0.00002
+vn -0.51570 0.85677 -0.00001
+vn -0.51570 0.85677 -0.00001
+vn -0.51571 0.85676 0.00002
+vn -0.51570 0.85677 0.00000
+vn -0.51570 0.85677 -0.00002
+vn -0.51570 0.85677 0.00001
+# 16 normals
+usemtl mirrors
+f  1/1/1 2/2/1 3/3/1
+f  4/4/2 5/5/3 6/6/3
+f  7/7/4 4/4/4 6/6/4
+f  8/8/5 7/7/5 6/6/5
+f  9/9/6 8/8/6 6/6/6
+f  10/10/7 9/9/7 6/6/7
+f  11/11/8 10/10/8 6/6/8
+f  3/3/9 11/11/9 6/6/9
+f  3/3/10 6/6/10 12/12/10
+f  3/3/11 12/12/11 13/13/12
+f  3/3/13 13/13/13 14/14/13
+f  3/3/14 14/14/14 15/15/14
+f  3/3/15 15/15/15 16/16/15
+f  1/1/16 3/3/16 16/16/16
+# object object #1
+g object__1
+v -0.68574 -0.45177 0.69279
+v -0.56602 -0.52383 0.69279
+v -0.56214 -0.52617 0.69167
+v -0.55868 -0.52825 0.68497
+v -0.55868 -0.52825 0.65180
+v -0.55973 -0.52762 0.64767
+v -0.56214 -0.52617 0.64510
+v -0.56602 -0.52383 0.64398
+v -0.68962 -0.44944 0.69167
+v -0.69202 -0.44799 0.68911
+v -0.69307 -0.44736 0.68497
+v -0.69307 -0.44736 0.65180
+v -0.69202 -0.44799 0.64767
+v -0.68962 -0.44944 0.64510
+v -0.68574 -0.45177 0.64398
+# 15 verticies
+vt 0.96875 1.00000
+vt 0.52344 1.00000
+vt 0.50928 0.97704
+vt 0.49634 0.83972
+vt 0.49634 0.16016
+vt 0.50000 0.07568
+vt 0.50928 0.02295
+vt 0.52344 0.00000
+vt 0.98340 0.97704
+vt 0.99219 0.92444
+vt 0.99609 0.83972
+vt 0.99609 0.16016
+vt 0.99219 0.07568
+vt 0.98340 0.02295
+vt 0.96875 0.00000
+# 15 texture verticies
+vn 0.51570 0.85677 -0.00002
+vn 0.51570 0.85677 -0.00000
+vn 0.51570 0.85677 0.00000
+vn 0.51570 0.85677 -0.00001
+vn 0.51571 0.85676 0.00003
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+vn 0.51570 0.85677 -0.00001
+vn 0.51570 0.85677 -0.00001
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+vn 0.51571 0.85677 0.00001
+vn 0.51571 0.85677 0.00001
+vn 0.51570 0.85677 -0.00000
+vn 0.51570 0.85677 0.00001
+vn 0.51570 0.85677 -0.00003
+vn 0.51570 0.85677 -0.00002
+# 15 normals
+f  17/17/17 18/18/17 19/19/17
+f  17/17/18 19/19/18 20/20/18
+f  17/17/19 20/20/19 21/21/19
+f  17/17/20 21/21/20 22/22/20
+f  17/17/21 22/22/21 23/23/21
+f  17/17/22 23/23/22 24/24/22
+f  25/25/23 17/17/23 24/24/23
+f  26/26/24 25/25/25 24/24/25
+f  27/27/26 26/26/27 24/24/27
+f  28/28/18 27/27/18 24/24/18
+f  29/29/28 28/28/28 24/24/28
+f  30/30/29 29/29/29 24/24/29
+f  31/31/30 30/30/31 24/24/31
+# object object #2
+g object__2
+v 0.05714 -0.57133 0.58972
+v 0.05684 -0.57130 0.58887
+v 0.05473 -0.57129 0.59008
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+v 0.05534 -0.57125 0.58773
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+v 0.05348 -0.57125 0.58798
+v 0.05274 -0.57128 0.58866
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+v -0.05684 -0.57130 0.58887
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+v -0.06266 -0.57146 0.59345
+v -0.06024 -0.57142 0.59380
+v -0.06236 -0.57142 0.59260
+v -0.06168 -0.57139 0.59185
+v -0.06086 -0.57137 0.59146
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+v -0.05900 -0.57138 0.59171
+v -0.05825 -0.57140 0.59239
+v -0.05787 -0.57144 0.59320
+v -0.05782 -0.57148 0.59421
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+v -0.05961 -0.57156 0.59620
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+v -0.06147 -0.57156 0.59595
+v -0.06261 -0.57150 0.59445
+v -0.06222 -0.57153 0.59527
+# 102 verticies
+vt 0.47534 0.03076
+vt 0.42651 0.05078
+vt 0.50537 0.17139
+vt 0.38477 0.09277
+vt 0.36450 0.14160
+vt 0.36450 0.20068
+vt 0.38477 0.24951
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+vt 0.62500 0.24951
+vt 0.64502 0.20068
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+vt 0.42651 0.62354
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+vt 0.64502 0.53320
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+vt 0.58301 0.38330
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+vt 0.47534 0.69434
+vt 0.42651 0.71460
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+vt 0.64502 0.86414
+vt 0.64502 0.80505
+vt 0.62500 0.75635
+vt 0.58301 0.71460
+vt 0.53467 0.69434
+# 51 texture verticies
+vn 0.02430 0.99900 0.03755
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+vn 0.00300 0.99918 0.04046
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+vn -0.01542 0.99855 0.05151
+vn -0.00968 0.99828 0.05776
+vn -0.00224 0.99812 0.06132
+vn 0.00598 0.99807 0.06174
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+vn -0.02430 0.99900 0.03755
+vn -0.00300 0.99918 0.04046
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+vn -0.00830 0.99977 0.01964
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+vn 0.01442 0.99951 0.02790
+vn 0.01794 0.99921 0.03551
+vn 0.01828 0.99887 0.04380
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+vn -0.01380 0.99816 0.05902
+vn -0.02010 0.99837 0.05346
+vn -0.02376 0.99866 0.04599
+# 97 normals
+usemtl flag
+f  32/32/32 33/33/33 34/34/34
+f  35/35/35 34/34/34 33/33/33
+f  35/35/35 36/36/36 34/34/34
+f  37/37/37 34/34/34 36/36/36
+f  37/37/37 38/38/38 34/34/34
+f  39/39/39 34/34/34 38/38/38
+f  39/39/39 40/40/40 34/34/34
+f  41/41/41 34/34/34 40/40/40
+f  41/41/41 42/42/42 34/34/34
+f  43/43/43 34/34/34 42/42/42
+f  43/43/43 44/44/44 34/34/34
+f  45/45/45 34/34/34 44/44/44
+f  45/45/45 46/46/46 34/34/34
+f  47/47/47 34/34/34 46/46/46
+f  34/34/34 47/47/47 48/48/48
+f  32/32/32 34/34/34 48/48/48
+f  49/32/49 50/34/50 51/33/51
+f  52/35/52 51/33/51 50/34/50
+f  52/35/52 50/34/50 53/36/53
+f  54/37/54 53/36/53 50/34/50
+f  54/37/54 50/34/50 55/38/55
+f  56/39/56 55/38/55 50/34/50
+f  56/39/56 50/34/50 57/40/57
+f  58/41/58 57/40/57 50/34/50
+f  58/41/58 50/34/50 59/42/59
+f  60/43/60 59/42/59 50/34/50
+f  60/43/60 50/34/50 61/44/61
+f  62/45/62 61/44/61 50/34/50
+f  62/45/62 50/34/50 63/46/63
+f  65/47/64 63/46/63 50/34/50
+f  50/34/50 64/48/65 65/47/64
+f  49/32/49 64/48/65 50/34/50
+f  66/49/66 67/50/67 68/51/34
+f  69/52/68 68/51/34 67/50/67
+f  69/52/68 70/53/69 68/51/34
+f  71/54/70 68/51/34 70/53/69
+f  71/54/70 72/55/71 68/51/34
+f  73/56/72 68/51/34 72/55/71
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+f  75/58/74 68/51/34 74/57/73
+f  75/58/74 76/59/75 68/51/34
+f  77/60/76 68/51/34 76/59/75
+f  77/60/76 78/61/77 68/51/34
+f  79/62/78 68/51/34 78/61/77
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+f  81/64/80 68/51/34 80/63/79
+f  68/51/34 81/64/80 82/65/81
+f  66/49/66 68/51/34 82/65/81
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+f  99/64/97 97/63/96 84/51/83
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+f  124/73/119 118/68/114 125/74/120
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+f  126/75/121 118/68/114 127/76/122
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+f  128/77/123 118/68/114 129/78/124
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+f  130/79/125 118/68/114 131/80/126
+f  133/81/127 131/80/126 118/68/114
+f  118/68/114 132/82/128 133/81/127
+f  117/66/113 132/82/128 118/68/114
+# object object #3
+g object__3
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+v 0.00000 -0.57000 0.60384
+v 0.00000 -0.56988 0.60384
+v 0.00000 -0.56988 0.60384
+v 0.00000 -0.56987 0.60384
+v 0.00000 -0.56987 0.60384
+# 13 verticies
+vt 0.43774 0.01172
+vt 0.62012 0.01172
+vt 0.68262 0.02197
+vt 0.36694 0.02246
+vt 0.31055 0.18799
+vt 0.63818 0.21240
+vt 0.29199 0.50342
+vt 0.61572 0.50342
+vt 0.63818 0.79419
+vt 0.31055 0.81860
+vt 0.68262 0.98463
+vt 0.36694 0.98454
+vt 0.43774 0.99501
+vt 0.62012 0.99496
+# 14 texture verticies
+vn -0.00000 0.99913 0.04175
+vn -0.00012 0.99913 0.04179
+vn -0.00003 0.99913 0.04176
+vn 0.00000 0.99913 0.04174
+vn 0.00001 0.99912 0.04183
+vn 0.00001 0.99912 0.04184
+vn 0.00000 0.99912 0.04195
+vn -0.00001 0.99912 0.04184
+vn -0.00001 0.99912 0.04183
+vn 0.00003 0.99913 0.04176
+vn -0.00000 0.99913 0.04174
+vn 0.00000 0.99913 0.04175
+vn 0.00012 0.99913 0.04179
+# 13 normals
+usemtl digi
+f  134/83/129 135/84/130 136/85/131
+f  134/83/129 136/85/131 140/86/132
+f  136/85/131 139/87/133 140/86/132
+f  136/85/131 137/88/134 139/87/133
+f  137/88/134 138/89/135 139/87/133
+f  137/88/134 138/90/135 138/89/135
+f  138/89/135 138/90/135 146/91/136
+f  145/92/137 138/89/135 146/91/136
+f  141/93/138 145/92/137 146/91/136
+f  141/93/138 144/94/139 145/92/137
+f  141/93/138 143/95/140 144/94/139
+f  141/93/138 142/96/141 143/95/140
+# object object #4
+g object__4
+v -0.04785 -0.57131 0.59522
+v -0.04683 -0.57135 0.59629
+v -0.01398 -0.57136 0.59636
+v -0.01297 -0.57131 0.59529
+v -0.01297 -0.57084 0.58397
+v -0.01399 -0.57079 0.58289
+v -0.04683 -0.57079 0.58286
+v -0.04785 -0.57084 0.58394
+# 8 verticies
+vt 0.99938 0.91345
+vt 0.97017 0.99304
+vt 0.02968 0.99950
+vt 0.97031 0.00050
+vt 0.99950 0.07977
+vt 0.00067 0.08249
+vt 0.02988 0.00295
+vt 0.00050 0.92026
+# 8 texture verticies
+vn 0.00002 0.99912 0.04196
+vn 0.00002 0.99912 0.04197
+vn 0.00001 0.99912 0.04200
+vn 0.00001 0.99912 0.04197
+vn 0.00000 0.99912 0.04196
+vn 0.00001 0.99912 0.04201
+vn 0.00001 0.99912 0.04201
+vn 0.00002 0.99912 0.04201
+# 8 normals
+usemtl digi0
+f  147/97/142 148/98/143 149/99/144
+f  147/97/142 153/100/145 154/101/146
+f  147/97/142 149/99/144 153/100/145
+f  151/102/147 152/103/148 153/100/145
+f  149/99/144 151/102/147 153/100/145
+f  149/99/144 150/104/149 151/102/147
+# object object #5
+g object__5
+v 0.00635 -0.57145 0.60001
+v 0.00634 -0.57070 0.58202
+v 0.00536 -0.57065 0.58096
+v -0.00537 -0.57065 0.58096
+v -0.00634 -0.57070 0.58202
+v -0.00635 -0.57145 0.60001
+v -0.00538 -0.57150 0.60106
+v 0.00538 -0.57150 0.60106
+# 8 verticies
+vt 0.92191 0.00050
+vt 0.99868 0.05332
+vt 0.99950 0.94701
+vt 0.92284 0.99950
+vt 0.07809 0.00050
+vt 0.07716 0.99950
+vt 0.00050 0.94701
+vt 0.00132 0.05332
+# 8 texture verticies
+vn 0.00000 0.99912 0.04196
+vn 0.00000 0.99912 0.04196
+vn 0.00001 0.99912 0.04196
+vn -0.00000 0.99912 0.04196
+vn -0.00000 0.99912 0.04196
+vn -0.00001 0.99912 0.04196
+# 6 normals
+f  158/105/150 159/106/151 160/107/152
+f  158/105/150 160/107/152 161/108/151
+f  157/109/153 158/105/150 161/108/151
+f  157/109/153 161/108/151 162/110/154
+f  155/111/155 157/109/153 162/110/154
+f  155/111/155 156/112/154 157/109/153
+# object object #6
+g object__6
+v 0.04785 -0.57131 0.59522
+v 0.04785 -0.57084 0.58394
+v 0.04683 -0.57079 0.58286
+v 0.01399 -0.57079 0.58289
+v 0.01297 -0.57084 0.58397
+v 0.01297 -0.57131 0.59529
+v 0.01398 -0.57136 0.59636
+v 0.04683 -0.57135 0.59629
+# 8 verticies
+vt 0.00062 0.91483
+vt 0.00050 0.07990
+vt 0.02969 0.00050
+vt 0.97032 0.99950
+vt 0.02984 0.99448
+vt 0.99933 0.08209
+vt 0.99950 0.92020
+vt 0.97012 0.00255
+# 8 texture verticies
+vn -0.00002 0.99912 0.04196
+vn 0.00000 0.99912 0.04196
+vn -0.00001 0.99912 0.04197
+vn -0.00001 0.99912 0.04200
+vn -0.00002 0.99912 0.04197
+vn -0.00001 0.99912 0.04201
+vn -0.00002 0.99912 0.04201
+vn -0.00001 0.99912 0.04201
+# 8 normals
+f  163/113/156 164/114/157 165/115/158
+f  163/113/156 169/116/159 170/117/160
+f  163/113/156 165/115/158 169/116/159
+f  167/118/161 168/119/162 169/116/159
+f  165/115/158 167/118/161 169/116/159
+f  165/115/158 166/120/163 167/118/161
+# object object #7
+g object__7
+v -0.10857 -0.56688 0.60725
+v -0.10825 -0.56644 0.60725
+v -0.10811 -0.56644 0.60657
+v -0.10840 -0.56688 0.60644
+v -0.10770 -0.56644 0.60600
+v -0.10791 -0.56688 0.60577
+v -0.10710 -0.56644 0.60566
+v -0.10720 -0.56688 0.60536
+v -0.10641 -0.56644 0.60558
+v -0.10638 -0.56688 0.60527
+v -0.10575 -0.56644 0.60580
+v -0.10559 -0.56688 0.60553
+v -0.10523 -0.56644 0.60626
+v -0.10498 -0.56688 0.60608
+v -0.10495 -0.56644 0.60690
+v -0.10464 -0.56688 0.60683
+v -0.10495 -0.56644 0.60759
+v -0.10464 -0.56688 0.60766
+v -0.10523 -0.56644 0.60823
+v -0.10498 -0.56688 0.60841
+v -0.10575 -0.56644 0.60869
+v -0.10559 -0.56688 0.60896
+v -0.10641 -0.56644 0.60891
+v -0.10638 -0.56688 0.60922
+v -0.10710 -0.56644 0.60883
+v -0.10720 -0.56688 0.60913
+v -0.10770 -0.56644 0.60849
+v -0.10791 -0.56688 0.60872
+v -0.10811 -0.56644 0.60792
+v -0.10840 -0.56688 0.60805
+v -0.10658 -0.56609 0.60725
+# 31 verticies
+vt 0.62744 0.56128
+vt 0.65088 0.57178
+vt 0.66455 0.50635
+vt 0.63916 0.50635
+vt 0.65088 0.44092
+vt 0.62744 0.45166
+vt 0.61133 0.38721
+vt 0.59424 0.40625
+vt 0.55371 0.35352
+vt 0.54590 0.37793
+vt 0.48730 0.34668
+vt 0.48999 0.37207
+vt 0.42383 0.36719
+vt 0.43652 0.38965
+vt 0.37427 0.41211
+vt 0.39478 0.42725
+vt 0.34717 0.47315
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+vt 0.37427 0.60083
+vt 0.39478 0.58569
+vt 0.42383 0.64551
+vt 0.43652 0.62329
+vt 0.48730 0.66602
+vt 0.48999 0.64063
+vt 0.55371 0.65894
+vt 0.54590 0.63477
+vt 0.61133 0.62573
+vt 0.59424 0.60669
+vt 0.50391 0.50635
+# 31 texture verticies
+vn -0.53057 0.81401 -0.23639
+vn -0.74554 0.57785 -0.33205
+vn -0.81610 0.57791 -0.00012
+vn -0.58078 0.81406 -0.00017
+vn -0.74554 0.57799 0.33182
+vn -0.53057 0.81411 0.23607
+vn -0.54606 0.57805 0.60636
+vn -0.38861 0.81415 0.43144
+vn -0.25219 0.57807 0.77604
+vn -0.17948 0.81417 0.55220
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+vn 0.40806 0.57803 0.70666
+vn 0.29040 0.81415 0.50282
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+vn 0.46988 0.81412 0.34122
+vn 0.79828 0.57792 0.16957
+vn 0.56811 0.81407 0.12060
+vn 0.79829 0.57785 -0.16980
+vn 0.56811 0.81402 -0.12092
+vn 0.66026 0.57777 -0.47982
+vn 0.46988 0.81398 -0.34155
+vn 0.40807 0.57773 -0.70690
+vn 0.29040 0.81394 -0.50315
+vn 0.08530 0.57773 -0.81176
+vn 0.06070 0.81394 -0.57777
+vn -0.25220 0.57774 -0.77628
+vn -0.17948 0.81394 -0.55253
+vn -0.54608 0.57779 -0.60660
+vn -0.38862 0.81397 -0.43177
+vn -0.00000 1.00000 -0.00019
+# 31 normals
+usemtl flag
+f  173/121/164 174/122/165 171/123/166
+f  171/123/166 172/124/167 173/121/164
+f  172/124/167 171/123/166 200/125/168
+f  200/125/168 199/126/169 172/124/167
+f  199/126/169 200/125/168 198/127/170
+f  198/127/170 197/128/171 199/126/169
+f  197/128/171 198/127/170 196/129/172
+f  196/129/172 195/130/173 197/128/171
+f  195/130/173 196/129/172 194/131/174
+f  194/131/174 193/132/175 195/130/173
+f  193/132/175 194/131/174 192/133/176
+f  192/133/176 191/134/177 193/132/175
+f  191/134/177 192/133/176 190/135/178
+f  190/135/178 189/136/179 191/134/177
+f  189/136/179 190/135/178 188/137/180
+f  188/137/180 187/138/181 189/136/179
+f  187/138/181 188/137/180 186/139/182
+f  186/139/182 185/140/183 187/138/181
+f  185/140/183 186/139/182 184/141/184
+f  184/141/184 183/142/185 185/140/183
+f  183/142/185 184/141/184 182/143/186
+f  182/143/186 181/144/187 183/142/185
+f  181/144/187 182/143/186 180/145/188
+f  180/145/188 179/146/189 181/144/187
+f  179/146/189 180/145/188 178/147/190
+f  178/147/190 177/148/191 179/146/189
+f  177/148/191 178/147/190 176/149/192
+f  176/149/192 175/150/193 177/148/191
+f  175/150/193 176/149/192 174/122/165
+f  174/122/165 173/121/164 175/150/193
+f  173/121/164 201/151/194 175/150/193
+f  175/150/193 201/151/194 177/148/191
+f  177/148/191 201/151/194 179/146/189
+f  179/146/189 201/151/194 181/144/187
+f  181/144/187 201/151/194 183/142/185
+f  183/142/185 201/151/194 185/140/183
+f  185/140/183 201/151/194 187/138/181
+f  187/138/181 201/151/194 189/136/179
+f  189/136/179 201/151/194 191/134/177
+f  191/134/177 201/151/194 193/132/175
+f  193/132/175 201/151/194 195/130/173
+f  195/130/173 201/151/194 197/128/171
+f  197/128/171 201/151/194 199/126/169
+f  199/126/169 201/151/194 172/124/167
+f  172/124/167 201/151/194 173/121/164
+# object object #8
+g object__8
+v -0.06444 -0.57202 0.59135
+v -0.06407 -0.57202 0.59264
+v -0.06293 -0.57202 0.59377
+v -0.05384 -0.57202 0.59700
+v -0.05199 -0.57202 0.59684
+v -0.05074 -0.57202 0.59566
+v -0.05103 -0.57202 0.58485
+v -0.05199 -0.57202 0.58340
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+v -0.06290 -0.57202 0.58846
+v -0.06402 -0.57202 0.58978
+v 0.06293 -0.57202 0.59377
+v 0.06407 -0.57202 0.59264
+v 0.06444 -0.57202 0.59135
+v 0.06402 -0.57202 0.58978
+v 0.06290 -0.57202 0.58846
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+v 0.05074 -0.57202 0.59566
+v 0.05199 -0.57202 0.59684
+v 0.05384 -0.57202 0.59700
+# 22 verticies
+vt 0.96401 0.18072
+vt 0.96121 0.20224
+vt 0.95256 0.22107
+vt 0.88342 0.27492
+vt 0.86932 0.27226
+vt 0.85981 0.25262
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+vt 0.88352 0.04476
+vt 0.95232 0.13266
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+vt 0.75774 0.22107
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+vt 0.82687 0.27492
+vt 0.85048 0.25262
+vt 0.84097 0.27226
+vt 0.84094 0.04833
+vt 0.84826 0.07245
+vt 0.75797 0.13266
+vt 0.82677 0.04476
+vt 0.74946 0.15457
+# 22 texture verticies
+vn 0.00000 1.00000 -0.00039
+vn -0.00089 1.00000 -0.00017
+vn 0.00036 1.00000 -0.00095
+vn 0.00004 1.00000 -0.00023
+vn 0.00000 1.00000 -0.00018
+vn -0.00000 1.00000 -0.00019
+vn -0.00001 1.00000 -0.00019
+vn 0.00001 1.00000 -0.00020
+vn 0.00001 1.00000 -0.00019
+vn -0.00005 1.00000 -0.00032
+vn -0.00003 1.00000 -0.00032
+vn -0.00036 1.00000 -0.00095
+vn 0.00089 1.00000 -0.00017
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+vn -0.00001 1.00000 -0.00020
+vn 0.00000 1.00000 -0.00019
+vn 0.00005 1.00000 -0.00032
+vn -0.00001 1.00000 -0.00019
+vn 0.00005 1.00000 -0.00033
+# 22 normals
+f  202/152/195 203/153/196 204/154/197
+f  202/152/195 204/154/197 205/155/198
+f  205/155/198 206/156/199 207/157/200
+f  207/157/200 208/158/201 209/159/202
+f  205/155/198 207/157/200 209/159/202
+f  202/152/195 205/155/198 209/159/202
+f  209/159/202 210/160/203 211/161/204
+f  202/152/195 209/159/202 211/161/204
+f  202/152/195 211/161/204 212/162/205
+f  213/163/206 214/164/207 215/165/208
+f  213/163/206 215/165/208 223/166/209
+f  221/167/210 222/168/211 223/166/209
+f  219/169/212 220/170/213 221/167/210
+f  219/169/212 221/167/210 223/166/209
+f  215/165/208 219/169/212 223/166/209
+f  217/171/214 218/172/215 219/169/212
+f  215/165/208 217/171/214 219/169/212
+f  215/165/208 216/173/216 217/171/214
+# object object #9
+g object__9
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+vn -0.99906 0.04337 0.00000
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+vn -0.14150 0.88910 0.43530
+vn 0.14150 0.88909 0.43530
+vn 0.37045 0.88906 0.26896
+# 526 normals
+usemtl info
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+f  245/176/219 235/177/220 238/174/217
+f  237/178/221 238/174/217 235/177/220
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+f  234/301/334 295/299/332 290/300/333
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diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/generic_main.tga b/assets/gazebo/models/f1_redbull_laser/Redbull/generic_main.tga
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diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/generic_main_specocc.png b/assets/gazebo/models/f1_redbull_laser/Redbull/generic_main_specocc.png
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diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/int_indicator.png b/assets/gazebo/models/f1_redbull_laser/Redbull/int_indicator.png
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diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/int_info_pod.tga b/assets/gazebo/models/f1_redbull_laser/Redbull/int_info_pod.tga
new file mode 100755
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diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/int_rb0_main.tga b/assets/gazebo/models/f1_redbull_laser/Redbull/int_rb0_main.tga
new file mode 100755
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new file mode 100755
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diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/rb0_wheel.png b/assets/gazebo/models/f1_redbull_laser/Redbull/rb0_wheel.png
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diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/rb0_wheel.tga b/assets/gazebo/models/f1_redbull_laser/Redbull/rb0_wheel.tga
new file mode 100755
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diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/tread_slick.tga b/assets/gazebo/models/f1_redbull_laser/Redbull/tread_slick.tga
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diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/tread_slick_nm.png b/assets/gazebo/models/f1_redbull_laser/Redbull/tread_slick_nm.png
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diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/tread_slick_specocc.png b/assets/gazebo/models/f1_redbull_laser/Redbull/tread_slick_specocc.png
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diff --git a/assets/gazebo/models/f1_redbull_laser/Redbull/tyre_nm.png b/assets/gazebo/models/f1_redbull_laser/Redbull/tyre_nm.png
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diff --git a/assets/gazebo/models/f1_redbull_laser/model.config b/assets/gazebo/models/f1_redbull_laser/model.config
new file mode 100644
index 000000000..ea5834c5e
--- /dev/null
+++ b/assets/gazebo/models/f1_redbull_laser/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>F1 Redbull</name>
+  <version>1.0</version>
+  <sdf version='1.5'>model.sdf</sdf>
+
+  <author>
+    <name>Francisco Perez</name>
+    <email>f.perez475@gmail.com</email>
+  </author>
+
+  <description>
+    F1 robot. Model by 3dregenerator (https://free3d.com/3d-model/redbull-f1-66214.html)
+  </description>
+</model>
diff --git a/assets/gazebo/models/f1_redbull_laser/model.sdf b/assets/gazebo/models/f1_redbull_laser/model.sdf
new file mode 100644
index 000000000..1650be779
--- /dev/null
+++ b/assets/gazebo/models/f1_redbull_laser/model.sdf
@@ -0,0 +1,298 @@
+<?xml version='1.0'?>
+<sdf version="1.4">
+<model name="f1_redbull">
+  <pose>0 0 0 0 0 0</pose>
+  <static>false</static>
+    <link name="f1">
+	    <pose>0 0 0 0 0 0</pose>
+      <inertial>
+        <mass>10</mass>
+        <inertia>
+          <ixx>1</ixx>
+          <ixy>0.0</ixy>
+          <iyy>1</iyy>
+          <ixz>0.0</ixz>
+          <iyz>0.0</iyz>
+          <izz>1.0</izz>
+        </inertia>
+      </inertial>
+    <collision name="collision">
+      <geometry>
+        <mesh>
+          <uri>model://f1_redbull/Redbull/Car.obj</uri>
+          <scale>0.2 0.2 0.2</scale>
+        </mesh>
+      </geometry>
+    </collision>
+    <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://f1_redbull/Redbull/Car.obj</uri>
+            <scale>0.2 0.2 0.2</scale>
+        </mesh>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name='camera_top_body_left'>
+    <pose>0.45000 0.040000 0.1000000 0.000000 -0.000000 0.0000000</pose>
+    <inertial>
+      <mass>2</mass>
+      <inertia>
+        <ixx>1.000000</ixx>
+        <ixy>0.000000</ixy>
+        <ixz>0.000000</ixz>
+        <iyy>1.000000</iyy>
+        <iyz>0.000000</iyz>
+        <izz>1.000000</izz>
+      </inertia>
+    </inertial>
+    <sensor name='cam_f1_left' type='camera'>
+      <pose>0.000000 0.000000 0.000000 0.000000 0.00000 0.00000</pose>
+      <update_rate>20.000000</update_rate>
+      <camera name='cleft'>
+        <horizontal_fov>1.570000</horizontal_fov>
+        <image>
+          <width>640</width>
+          <height>480</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.100000</near>
+          <far>15.000000</far>
+        </clip>
+      </camera>
+      <plugin name="camera_controller_left" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>F1ROS/cameraL</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>camera_top_body_left</frameName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+    <visual name='visual'>
+      <geometry>
+        <sphere>
+          <radius>.005</radius>
+        </sphere>
+      </geometry>
+    </visual>
+    <collision name='collision'>
+      <geometry>
+        <box>
+          <size>0.100000 0.100000 0.100000</size>
+        </box>
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>100000.000000</mu>
+            <mu2>100000.000000</mu2>
+            <slip1>0.000000</slip1>
+            <slip2>0.000000</slip2>
+          </ode>
+        </friction>
+      </surface>
+      <max_contacts>10</max_contacts>
+    </collision>
+    <velocity_decay>
+      <linear>0.000000</linear>
+      <angular>0.000000</angular>
+    </velocity_decay>
+    <self_collide>0</self_collide>
+    <kinematic>0</kinematic>
+    <gravity>1</gravity>
+  </link>
+
+  <link name='camera_top_body_right'>
+    <pose>0.45000 -0.040000 0.1000000 0.000000 -0.000000 0.0000000</pose>
+    <inertial>
+      <mass>2</mass>
+      <inertia>
+        <ixx>1.000000</ixx>
+        <ixy>0.000000</ixy>
+        <ixz>0.000000</ixz>
+        <iyy>1.000000</iyy>
+        <iyz>0.000000</iyz>
+        <izz>1.000000</izz>
+      </inertia>
+    </inertial>
+    <sensor name='cam_f1_right' type='camera'>
+      <pose>0.000000 0.000000 0.000000 0.000000 0.00000 0.00000</pose>
+      <update_rate>20.000000</update_rate>
+      <camera name='cright'>
+        <horizontal_fov>1.570000</horizontal_fov>
+        <image>
+          <width>640</width>
+          <height>480</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.100000</near>
+          <far>15.000000</far>
+        </clip>
+      </camera>
+  		<plugin name="camera_controller_right" filename="libgazebo_ros_camera.so">
+  			<alwaysOn>true</alwaysOn>
+  			<updateRate>0.0</updateRate>
+  			<cameraName>F1ROS/cameraR</cameraName>
+  			<imageTopicName>image_raw</imageTopicName>
+  			<cameraInfoTopicName>camera_info</cameraInfoTopicName>
+  			<frameName>camera_top_body_right</frameName>
+  			<hackBaseline>0.07</hackBaseline>
+  			<distortionK1>0.0</distortionK1>
+  			<distortionK2>0.0</distortionK2>
+  			<distortionK3>0.0</distortionK3>
+  			<distortionT1>0.0</distortionT1>
+  			<distortionT2>0.0</distortionT2>
+  		</plugin>
+    </sensor>
+    <visual name='visual'>
+      <geometry>
+        <sphere>
+          <radius>.005</radius>
+        </sphere>
+      </geometry>
+    </visual>
+    <collision name='collision'>
+      <geometry>
+        <box>
+          <size>0.100000 0.100000 0.100000</size>
+        </box>
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>100000.000000</mu>
+            <mu2>100000.000000</mu2>
+            <slip1>0.000000</slip1>
+            <slip2>0.000000</slip2>
+          </ode>
+        </friction>
+      </surface>
+      <max_contacts>10</max_contacts>
+    </collision>
+    <velocity_decay>
+      <linear>0.000000</linear>
+      <angular>0.000000</angular>
+    </velocity_decay>
+    <self_collide>0</self_collide>
+    <kinematic>0</kinematic>
+    <gravity>1</gravity>
+  </link>
+
+  <link name='laser'>
+    <pose>0.500000 0.000000 0.072000 0.000000 0.000000 0.00000</pose>
+    <gravity>0</gravity>
+    <inertial>
+      <mass>1</mass>
+      <inertia>
+        <ixx>1.000000</ixx>
+        <ixy>0.000000</ixy>
+        <ixz>0.000000</ixz>
+        <iyy>1.000000</iyy>
+        <iyz>0.000000</iyz>
+        <izz>1.000000</izz>
+      </inertia>
+    </inertial>
+    <visual name='visual'>
+      <geometry>
+        <mesh>
+          <uri>model://f1ROS/meshes/hokuyo.dae</uri>
+        </mesh>
+      </geometry>
+    </visual>
+    <collision name='collision-base'>
+      <pose>0.000000 0.000000 -0.014500 0.000000 0.000000 0.000000</pose>
+      <geometry>
+        <box>
+          <size>0.050000 0.050000 0.041000</size>
+        </box>
+      </geometry>
+      <max_contacts>10</max_contacts>
+    </collision>
+    <collision name='collision-top'>
+      <pose>0.000000 0.000000 0.020500 0.000000 0.000000 0.000000</pose>
+      <geometry>
+        <cylinder>
+          <radius>0.021000</radius>
+          <length>0.029000</length>
+        </cylinder>
+      </geometry>
+      <max_contacts>10</max_contacts>
+    </collision>
+    <sensor name='laser' type='ray'>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>180</samples>
+            <resolution>1.000000</resolution>
+            <min_angle>-1.570000</min_angle>
+            <max_angle>1.570000</max_angle>
+          </horizontal>
+        </scan>
+        <range>
+          <min>0.080000</min>
+          <max>10.000000</max>
+          <resolution>0.010000</resolution>
+        </range>
+      </ray>
+      <update_rate>20.000000</update_rate>
+	    <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
+		    <topicName>/F1ROS/laser/scan</topicName>
+		    <frameName>laser</frameName>
+	    </plugin>
+      <always_on>1</always_on>
+      <visualize>1</visualize>
+    </sensor>
+    <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+    </velocity_decay>
+    <self_collide>0</self_collide>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint type="revolute" name="laser_joint">
+      <pose>0 0 0 0 0 0</pose>
+      <child>laser</child>
+      <parent>f1</parent>
+      <axis>
+          <xyz>0 0 0</xyz>
+      </axis>
+  </joint>
+
+  <joint type="revolute" name="camera_left">
+      <pose>0 0 0 0 0 0</pose>
+      <child>camera_top_body_left</child>
+      <parent>f1</parent>
+      <axis>
+        <xyz>0 0 0</xyz>
+    </axis>
+  </joint>
+
+  <joint type="revolute" name="camera_right">
+      <pose>0 0 0 0 0 0</pose>
+      <child>camera_top_body_right</child>
+      <parent>f1</parent>
+      <axis>
+        <xyz>0 0 0</xyz>
+    </axis>
+  </joint>
+
+  <plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
+      <commandTopic>F1ROS/cmd_vel</commandTopic>
+      <odometryTopic>F1ROS/odom</odometryTopic>
+      <odometryFrame>odom</odometryFrame>
+      <odometryRate>20.0</odometryRate>
+      <robotBaseFrame>xf1</robotBaseFrame>
+  </plugin>
+</model>
+</sdf>
diff --git a/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae b/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae
index 90adb6995..67c28ab0f 100644
--- a/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae
+++ b/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae
@@ -1,4190 +1,3682 @@
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-      <author>Blender User</author>
-      <authoring_tool>Blender 2.79.0 commit date:2018-02-21, commit time:10:41, hash:8928d99270f</authoring_tool>
-    </contributor>
-    <created>2018-07-14T16:56:25</created>
-    <modified>2018-07-14T16:56:25</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
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+                            <param name="S" type="float" />
+                            <param name="T" type="float" />
+                        </accessor>
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HcmV?d00001

diff --git a/assets/gazebo/models/nurburgrinLine/meshes/Nurburgrin_Pared.dae b/assets/gazebo/models/nurburgrinLine/meshes/Nurburgrin_Pared.dae
index ab3420017..dcdd12e6f 100644
--- a/assets/gazebo/models/nurburgrinLine/meshes/Nurburgrin_Pared.dae
+++ b/assets/gazebo/models/nurburgrinLine/meshes/Nurburgrin_Pared.dae
@@ -4,8 +4,8 @@
         <contributor>
             <authoring_tool>SketchUp 18.0.16975</authoring_tool>
         </contributor>
-        <created>2018-07-05T10:59:14Z</created>
-        <modified>2018-07-05T10:59:14Z</modified>
+        <created>2018-06-28T09:53:57Z</created>
+        <modified>2018-06-28T09:53:57Z</modified>
         <unit meter="0.0254" name="inch" />
         <up_axis>Z_UP</up_axis>
     </asset>
@@ -44,6 +44,9 @@
                             <instance_material symbol="Material2" target="#ID4">
                                 <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
                             </instance_material>
+                            <instance_material symbol="Material3" target="#ID9">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
                         </technique_common>
                     </bind_material>
                 </instance_geometry>
@@ -53,6 +56,9 @@
                             <instance_material symbol="Material2" target="#ID4">
                                 <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
                             </instance_material>
+                            <instance_material symbol="Material3" target="#ID9">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
                         </technique_common>
                     </bind_material>
                 </instance_geometry>
@@ -62,6 +68,9 @@
                             <instance_material symbol="Material2" target="#ID4">
                                 <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
                             </instance_material>
+                            <instance_material symbol="Material3" target="#ID9">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
                         </technique_common>
                     </bind_material>
                 </instance_geometry>
@@ -71,6 +80,9 @@
                             <instance_material symbol="Material2" target="#ID4">
                                 <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
                             </instance_material>
+                            <instance_material symbol="Material3" target="#ID9">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
                         </technique_common>
                     </bind_material>
                 </instance_geometry>
@@ -95,14 +107,41 @@
                 <instance_geometry url="#ID47">
                     <bind_material>
                         <technique_common>
-                            <instance_material symbol="Material2" target="#ID48">
+                            <instance_material symbol="Material2" target="#ID38">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID51">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID38">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID55">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID38">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID59">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID38">
                                 <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
                             </instance_material>
                         </technique_common>
                     </bind_material>
                 </instance_geometry>
                 <node name="skp_camera_Last_Saved_SketchUp_View">
-                    <matrix>0.1509156 0.5390136 -0.8286669 -3265.895 -0.9885467 0.08228803 -0.1265077 -314.9174 9.714451e-17 0.8382679 0.5452587 1276.818 0 0 0 1</matrix>
+                    <matrix>0.7355959 -0.281361 0.6162261 53.20535 0.6774206 0.3055236 -0.6691462 -422.9914 8.326673e-17 0.9096655 0.4153417 411.814 0 0 0 1</matrix>
                     <instance_camera url="#ID1" />
                 </node>
             </node>
@@ -112,9 +151,9 @@
         <geometry id="ID3">
             <mesh>
                 <source id="ID6">
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                     <technique_common>
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+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
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+                            <param name="Y" type="float" />
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     <library_materials>
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diff --git a/assets/gazebo/models/nurburgrinLine/meshes/__auto_9.jpg b/assets/gazebo/models/nurburgrinLine/meshes/__auto_9.jpg
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diff --git a/assets/gazebo/models/nurburgrinLine/model.sdf b/assets/gazebo/models/nurburgrinLine/model.sdf
index 35dcd8d4d..d630fd4be 100644
--- a/assets/gazebo/models/nurburgrinLine/model.sdf
+++ b/assets/gazebo/models/nurburgrinLine/model.sdf
@@ -14,6 +14,7 @@
     <visual name="visual">
       <geometry>
         <mesh>
+          <scale>2 2 2</scale>
           <uri>model://nurburgrinLine/meshes/Circuito_Nurburgrin.dae</uri>
         </mesh>
       </geometry>
@@ -23,6 +24,7 @@
     <collision name="collision">
       <geometry>
         <mesh>
+          <scale>2 2 2</scale>
           <uri>model://nurburgrinLine/meshes/Nurburgrin_Pared.dae</uri>
         </mesh>
       </geometry>
@@ -30,6 +32,7 @@
     <visual name="visual">
       <geometry>
         <mesh>
+          <scale>2 2 2</scale>
           <uri>model://nurburgrinLine/meshes/Nurburgrin_Pared.dae</uri>
         </mesh>
       </geometry>
diff --git a/assets/gazebo/worlds/nurburgrinLineROS.world b/assets/gazebo/worlds/nurburgrinLineROS.world
index 288ce1501..ed39443d7 100644
--- a/assets/gazebo/worlds/nurburgrinLineROS.world
+++ b/assets/gazebo/worlds/nurburgrinLineROS.world
@@ -6,11 +6,11 @@
     </include>
     <include>
       <uri>model://nurburgrinLine</uri>
-      <pose>0 0 0 0 0 o</pose>
+      <pose>70 -47 0 0 0 0</pose>
     </include>
     <include>
       <uri>model://f1ROS</uri>
-      <pose>-58.7 28.3 0 0 0 -0.55</pose>
+      <pose>0.05 -0.44 0 0 0 0.9</pose>
     </include>
   </world>
 </sdf>

From 94150eceb16365b544d0ece637242d3aa887aa26 Mon Sep 17 00:00:00 2001
From: Pablo Moreno Vera <pablomvera14@gmail.com>
Date: Tue, 17 Jul 2018 17:07:10 +0200
Subject: [PATCH 06/16] Delete __auto_1.jpg

---
 .../models/nurburgrinLine/meshes/__auto_1.jpg    | Bin 4811 -> 0 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 assets/gazebo/models/nurburgrinLine/meshes/__auto_1.jpg

diff --git a/assets/gazebo/models/nurburgrinLine/meshes/__auto_1.jpg b/assets/gazebo/models/nurburgrinLine/meshes/__auto_1.jpg
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From 278b8c9fcde3bdc0bd15e2231c89c91307d8df38 Mon Sep 17 00:00:00 2001
From: Pablo Moreno Vera <pablomvera14@gmail.com>
Date: Tue, 17 Jul 2018 17:07:14 +0200
Subject: [PATCH 07/16] Delete __auto_12.jpg

---
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 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 assets/gazebo/models/nurburgrinLine/meshes/__auto_12.jpg

diff --git a/assets/gazebo/models/nurburgrinLine/meshes/__auto_12.jpg b/assets/gazebo/models/nurburgrinLine/meshes/__auto_12.jpg
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From e3825311ccd4b7d9d014378f03928463daae46d9 Mon Sep 17 00:00:00 2001
From: Pablo Moreno Vera <pablomvera14@gmail.com>
Date: Tue, 17 Jul 2018 17:07:22 +0200
Subject: [PATCH 08/16] Delete __auto_2.JPG

---
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From 4283fe053a3e15b7769cecd1460c65a0ec1f76b9 Mon Sep 17 00:00:00 2001
From: Pablo Moreno Vera <pablomvera14@gmail.com>
Date: Tue, 17 Jul 2018 17:07:26 +0200
Subject: [PATCH 09/16] Delete __auto_3.jpg

---
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From 837b1339bf2c342a175c94ec56fc4c76ebff846a Mon Sep 17 00:00:00 2001
From: Pablo Moreno Vera <pablomvera14@gmail.com>
Date: Tue, 17 Jul 2018 17:07:29 +0200
Subject: [PATCH 10/16] Delete __auto_4.jpg

---
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 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 assets/gazebo/models/nurburgrinLine/meshes/__auto_4.jpg

diff --git a/assets/gazebo/models/nurburgrinLine/meshes/__auto_4.jpg b/assets/gazebo/models/nurburgrinLine/meshes/__auto_4.jpg
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From b89f1f98d6a97f800a8b2c7a51d519cc6dd37b39 Mon Sep 17 00:00:00 2001
From: Pablo Moreno Vera <pablomvera14@gmail.com>
Date: Tue, 17 Jul 2018 17:07:34 +0200
Subject: [PATCH 11/16] Delete __auto_7.jpg

---
 .../models/nurburgrinLine/meshes/__auto_7.jpg    | Bin 9802 -> 0 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 assets/gazebo/models/nurburgrinLine/meshes/__auto_7.jpg

diff --git a/assets/gazebo/models/nurburgrinLine/meshes/__auto_7.jpg b/assets/gazebo/models/nurburgrinLine/meshes/__auto_7.jpg
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From 52c9b4218290452c292a3e83ae0073fa73ba88f7 Mon Sep 17 00:00:00 2001
From: Pablo Moreno Vera <pablomvera14@gmail.com>
Date: Tue, 17 Jul 2018 17:07:39 +0200
Subject: [PATCH 12/16] Delete __auto_8.png

---
 .../models/nurburgrinLine/meshes/__auto_8.png   | Bin 19558 -> 0 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 assets/gazebo/models/nurburgrinLine/meshes/__auto_8.png

diff --git a/assets/gazebo/models/nurburgrinLine/meshes/__auto_8.png b/assets/gazebo/models/nurburgrinLine/meshes/__auto_8.png
deleted file mode 100644
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From 4e7f3a69ac9509c18a7b8252336d264e4bf606dd Mon Sep 17 00:00:00 2001
From: Pablo Moreno Vera <pablomvera14@gmail.com>
Date: Tue, 17 Jul 2018 17:07:43 +0200
Subject: [PATCH 13/16] Delete __auto_9.jpg

---
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From 176008cd6e9c7bb36df818471f765d5799f866b0 Mon Sep 17 00:00:00 2001
From: Pablo Moreno Vera <pablomvera14@gmail.com>
Date: Tue, 17 Jul 2018 17:07:47 +0200
Subject: [PATCH 14/16] Delete Grass_Dark_Green.jpg

---
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From 20775d73a6d17c7c1890a5c4f9afa1a5190c024d Mon Sep 17 00:00:00 2001
From: Pablo Moreno Vera <pablomvera14@gmail.com>
Date: Tue, 17 Jul 2018 17:07:51 +0200
Subject: [PATCH 15/16] Delete Circuito_Nurburgrin.dae

---
 .../meshes/Circuito_Nurburgrin.dae            | 3682 -----------------
 1 file changed, 3682 deletions(-)
 delete mode 100644 assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae

diff --git a/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae b/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae
deleted file mode 100644
index 67c28ab0f..000000000
--- a/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae
+++ /dev/null
@@ -1,3682 +0,0 @@
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From 752156dd5a35c2da4fc8e34941f74264fe234102 Mon Sep 17 00:00:00 2001
From: Pablo Moreno Vera <pablomvera14@gmail.com>
Date: Tue, 17 Jul 2018 17:08:19 +0200
Subject: [PATCH 16/16] Add files via upload

---
 .../meshes/Circuito_Nurburgrin.dae            | 1312 +++++++++++++++++
 1 file changed, 1312 insertions(+)
 create mode 100644 assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae

diff --git a/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae b/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae
new file mode 100644
index 000000000..38e6c9d4d
--- /dev/null
+++ b/assets/gazebo/models/nurburgrinLine/meshes/Circuito_Nurburgrin.dae
@@ -0,0 +1,1312 @@
+<?xml version="1.0" encoding="utf-8"?>
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+      <author>Blender User</author>
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+    </contributor>
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\ No newline at end of file