diff --git a/urdf/all_sensors.urdf.xacro b/urdf/all_sensors.urdf.xacro
index bbad442..d6e7a1c 100644
--- a/urdf/all_sensors.urdf.xacro
+++ b/urdf/all_sensors.urdf.xacro
@@ -77,5 +77,8 @@
+
+
+
diff --git a/urdf/vlp16.urdf(bkup).xacro b/urdf/vlp16.urdf(bkup).xacro
new file mode 100644
index 0000000..5f776c5
--- /dev/null
+++ b/urdf/vlp16.urdf(bkup).xacro
@@ -0,0 +1,155 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0 0 0 0 0 0
+ false
+ ${update_rate}
+
+
+
+ ${horizontal_samples}
+ 1
+ -${M_PI}
+ ${M_PI}
+
+
+ ${vertical_samples}
+ 1
+ -${15.0*M_PI/180.0}
+ ${15.0*M_PI/180.0}
+
+
+
+ ${min_range}
+ ${max_range}
+ 0.001
+
+
+ gaussian
+ 0.0
+ 0.0
+
+
+
+ ${ros_topic}
+ ${name}_frame
+ ${min_range}
+ ${max_range}
+ 0.008
+
+
+
+
+
+
+
+
+
+
+
+
+ ${update_rate}
+ 0 0 0 0 0 0
+ false
+
+
+
+ ${ray_count}
+ 1
+ ${min_angle * M_PI/180}
+ ${max_angle * M_PI/180}
+
+
+
+ 0.2
+ 30.0
+ 0.01
+
+
+ gaussian
+ 0.0
+ 0.004
+
+
+
+ ${ros_topic}
+ ${name}_frame
+
+
+
+
+
+
diff --git a/urdf/vlp16.urdf.xacro b/urdf/vlp16.urdf.xacro
new file mode 100644
index 0000000..756779e
--- /dev/null
+++ b/urdf/vlp16.urdf.xacro
@@ -0,0 +1,177 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0 0 0 0 0 0
+ false
+ ${update_rate}
+
+
+
+ ${horizontal_samples}
+ 1
+ -${M_PI}
+ ${M_PI}
+
+
+ ${vertical_samples}
+ 1
+ -${15.0*M_PI/180.0}
+ ${15.0*M_PI/180.0}
+
+
+
+ ${min_range}
+ ${max_range}
+ 0.001
+
+
+ gaussian
+ 0.0
+ 0.0
+
+
+
+ ${ros_topic}
+ ${name}_frame
+ ${min_range}
+ ${max_range}
+ 0.008
+
+
+
+
+
+
+
+
+
+
+
+
+ ${update_rate}
+ 0 0 0 0 0 0
+ false
+
+
+
+ ${ray_count}
+ 1
+ ${min_angle * M_PI/180}
+ ${max_angle * M_PI/180}
+
+
+
+ 0.2
+ 30.0
+ 0.01
+
+
+ gaussian
+ 0.0
+ 0.004
+
+
+
+ ${ros_topic}
+ ${name}_frame
+
+
+
+
+
+