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<robot name="my_pool">

<link name="base_link"> <inertial> <mass value="100.0"/> <origin xyz="0 0 0"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <mesh filename="package://home/phadjic/ros_workspace/pool_party/meshes/test.dae"/> </geometry> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0 "/> <geometry> <mesh filename="package://home/phadjic/ros_workspace/pool_party/meshes/test.dae"/> </geometry> </collision>
</link>

</robot>

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