diff --git a/Projet/pioneer_description/urdf/materials.xacro b/Projet/pioneer_description/urdf/materials.xacro
new file mode 100644
index 0000000..7c6ee60
--- /dev/null
+++ b/Projet/pioneer_description/urdf/materials.xacro
@@ -0,0 +1,56 @@
+
+
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diff --git a/Projet/pioneer_description/urdf/pioneer.gazebo b/Projet/pioneer_description/urdf/pioneer.gazebo
new file mode 100644
index 0000000..e767ada
--- /dev/null
+++ b/Projet/pioneer_description/urdf/pioneer.gazebo
@@ -0,0 +1,213 @@
+
+
+
+
+
+
+
+
+ pioneer
+ gazebo_ros_control/DefaultRobotHWSim
+ true
+
+
+
+
+
+
+ true
+ 100
+ base_left_wheel_joint
+ base_right_wheel_joint
+ 5
+ 0.39
+ 0.15
+ pioneer/cmd_vel
+ odom
+ odom
+ world
+ base_link
+ true
+ true
+ true
+ true
+ 0
+ 5
+ na
+ true
+
+
+
+
+
+
+
+
+
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+
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+
+
+
+
+
+
+
+
+
+ 0.2
+ 0.2
+
+
+
+
+
+
+
+
+
+
+ 0 0 0 0 0 0
+ false
+ 40.0
+
+
+
+ 550
+ 1
+ -3.1415
+ 3.1415
+
+
+
+ 0.15
+ 12.0
+ 0.01
+
+
+ gaussian
+
+ 0.0
+ 0.01
+
+
+
+ base_scan
+ laser
+
+
+
+
+
+
+
+ 30
+
+ 1.047198
+
+ 640
+ 480
+ R8G8B8
+
+
+ 0.6
+ 8
+
+
+
+ 0.2
+ true
+ 1.0
+ camera_ir
+ /camera/color/image_raw
+ /camera/color/camera_info
+ /camera/depth/image_raw
+ /camera/depth/camera_info
+ /camera/depth/points
+ OrbbecAstra_link
+ 0.6
+ 8.0
+ 0.00000001
+ 0.00000001
+ 0.00000001
+ 0.00000001
+ 0.00000001
+ 0
+ 0
+ 0
+ 0
+ 0
+
+
+
+
+
diff --git a/Projet/pioneer_description/urdf/pioneer3dx.xacro b/Projet/pioneer_description/urdf/pioneer3dx.xacro
new file mode 100644
index 0000000..aa2fb4a
--- /dev/null
+++ b/Projet/pioneer_description/urdf/pioneer3dx.xacro
@@ -0,0 +1,548 @@
+
+
+
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+
+
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+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
+
+
+
+
+
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ EffortJointInterface
+ 1
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ EffortJointInterface
+ 1
+
+
+
+
+
diff --git a/Projet/pioneer_description/urdf/pioneer3dx_wheel.xacro b/Projet/pioneer_description/urdf/pioneer3dx_wheel.xacro
new file mode 100644
index 0000000..8314393
--- /dev/null
+++ b/Projet/pioneer_description/urdf/pioneer3dx_wheel.xacro
@@ -0,0 +1,111 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
+
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+
+
+
+
+
+
+ ${reflect * 624/35 * 80/19}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
+
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+