<?xml version="1.0"?>
<robot name="sonar" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:property name="sonar_radius" value="0.01"/>
<xacro:property name="sonar_height" value="0.01"/>
<xacro:macro name="sonar" params="pos xyz rpy">
<link name="${pos}_sonar">
<visual>
<origin xyz="0 0 0" rpy="0 1.57 0"/>
<geometry>
<cylinder length="${sonar_height}" radius="${sonar_radius}"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="${sonar_height}" radius="${sonar_radius}"/>
</geometry>
</collision>
</link>
<joint name="${pos}_sonar_joint" type="fixed">
<origin<