<?xml version="1.0"?>
<robot name="fishbot">
  <link name="base_footprint" />
  
  <!-- base link -->
  <link name="base_link">
  <visual>
    <origin xyz="0 0 0.0" rpy="0 0 0" />
    <geometry>
      <cylinder length="0.12" radius="0.10" />
    </geometry>
    <material name="blue">
      <color rgba="0.1 0.1 1.0 0.5" />
    </material>
  </visual>
  </link>
  
  <joint name="base_joint" type="fixed">
    <parent link="base_footprint" />
    <child link="base_link" />
    <origin xyz="0.0 0.0 0.076" rpy="0 0 0" />
  </joint>

  <!-- laser link -->
  <link name="laser_link">
  <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <geometry>
      <cylinder length="0.02" radius="0.02" />
    </geometry>
    <material name="black">
      <color rgba="0.0 0.0 0.0 0.5" />
    </material>
  </visual>
  </link>
  <joint name="laser_joint" type="fixed">
    <parent link="base_link" />
    <child link="laser_link" />
    <origin xyz="0 0 0.075" rpy="0 0 0" />
  </joint>

</robot>