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Hi,
@Tully: Thank you for posting this question from ros.users list to here.
@Chad: Thank you for letting me know that my question is posted here and answered :) I have done what you have mentioned in VRML for the simulator Webots for some reason. But, I am planning to do similar thing for Gazebo as well in a month or so, by heavily using XACROs for URDF.
When I asked this question, my concern was how to deal with the bounding boxes of the main wheel and the rollers since they are both cylinders and one within the other. Then, I thought that why bother yourself putting a bounding box for the main wheel! It doesn't collide with anywhere in my application.
The simulated robot has a little drift but it is not gonna cause that much trouble in the closed loop control.
Cheers
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