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Can someone has the URDF model for the Create 2.0 from iRobot, I need to simulate at Gazebo the robot and simulate the laserscan with the robot, I would like to know if someone know about something of this for ROS.

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Might be a bit late, but the create_robot/create_autonomy package has various URDFs for the Create here: https://github.com/AutonomyLab/create_robot/tree/melodic/create_description/urdf

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