GitLab

The uses two distinct URDF files and distinct mesh files to create two
bots: (a) bot_front_wheels.urdf and bot_front_caster.urdf.  The camera
is always in front, but the bot direction is inherently reversed.

It also includes two demo launch files: display_front_wheels.launch
and display_front_caster.launch to show the two options.

Finally, the URDF files include the frames for the depth camera and
artificial laser scaner, so we can process the camera data correctly.

Note the depth camera angle is calibrated to 20deg (using the depth
camera to make a vertical object appear vertical).  Hopefully the
angle is consistent between all bots.