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Who can help me to build urdf /xacro model of turtlebot3-friends-carrier

I have tried several times to create the urdf model of turtlebot3 friends carrier with 4 wheel, but I haven't succeeded to do it yet. Can someone please help me with this?

http://emanual.robotis.com/docs/en/platform/turtlebot3/locomotion/#turtlebot3-friends-carrier