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Check here for p2os_urdf. It has recently been updated to include the Pioneer3-AT URDF.

roslaunch p2os_urdf pioneer3at_urdf.launch

Check here for p2os_urdf. It has recently been updated to include the Pioneer3-AT URDF.

roslaunch p2os_urdf pioneer3at_urdf.launch

Also, when you say "not exactly the model you want," what do you mean?

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