add waffle_pi urdf and gazebo

turtlebot3_description/urdf/turtlebot3_waffle_pi.gazebo.xacro

 <?xml version="1.0"?>
-<robot name="turtlebot3_waffle_sim" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="turtlebot3_waffle_pi_sim" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:arg name="laser_visual"  default="false"/>
   <xacro:arg name="camera_visual" default="false"/>
   <xacro:arg name="imu_visual"    default="false"/>
 
-  <xacro:arg name="r200_cam_rgb_px" default="0.005"/>
-  <xacro:arg name="r200_cam_rgb_py" default="0.018"/>
-  <xacro:arg name="r200_cam_rgb_pz" default="0.013"/>
-  <xacro:arg name="r200_cam_depth_offset" default="0.01"/>
-
   <gazebo>
-    <plugin name="turtlebot3_waffle_controller" filename="libgazebo_ros_diff_drive.so">
+    <plugin name="turtlebot3_waffle_pi_controller" filename="libgazebo_ros_diff_drive.so">
       <commandTopic>cmd_vel</commandTopic>
       <odometryTopic>odom</odometryTopic>
       <odometryFrame>odom</odometryFrame>
@@ -144,46 +139,38 @@
     </sensor>
   </gazebo>
 
+<!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
   <gazebo reference="camera_link">
-    <sensor type="depth" name="realsense_R200">
-      <pose>$(arg r200_cam_rgb_px) $(arg r200_cam_rgb_py) $(arg r200_cam_rgb_pz) 0 0 0</pose>
+    <sensor type="camera" name="Pi Camera">
+      <pose>0.003 0.011 0.008 0 0 0</pose>
       <always_on>true</always_on>
       <visualize>$(arg camera_visual)</visualize>
       <camera>
-          <horizontal_fov>1.02974</horizontal_fov>
+          <horizontal_fov>1.085595</horizontal_fov>
           <image>
-              <width>1920</width>
-              <height>1080</height>
+              <width>640</width>
+              <height>480</height>
               <format>R8G8B8</format>
           </image>
-          <depth_camera></depth_camera>
           <clip>
               <near>0.02</near>
               <far>300</far>
           </clip>
       </camera>
-      <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
-        <pose>$(arg r200_cam_depth_offset) 0 0 0 0 0</pose>
+      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
         <alwaysOn>true</alwaysOn>
-            <updateRate>30.0</updateRate>
-            <cameraName>camera</cameraName>
-            <frameName>camera_link</frameName>
+        <updateRate>30.0</updateRate>
+        <cameraName>camera</cameraName>
+        <frameName>camera_link</frameName>
         <imageTopicName>rgb/image_raw</imageTopicName>
-        <depthImageTopicName>depth/image_raw</depthImageTopicName>
-        <pointCloudTopicName>depth/points</pointCloudTopicName>
         <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
-        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
-        <pointCloudCutoff>0.4</pointCloudCutoff>
-            <hackBaseline>0.07</hackBaseline>
-            <distortionK1>0.0</distortionK1>
-            <distortionK2>0.0</distortionK2>
-            <distortionK3>0.0</distortionK3>
-            <distortionT1>0.0</distortionT1>
-            <distortionT2>0.0</distortionT2>
-        <CxPrime>0.0</CxPrime>
-        <Cx>0.0</Cx>
-        <Cy>0.0</Cy>
-        <focalLength>0.0</focalLength>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+        <focalLength>0.003</focalLength>
       </plugin>
     </sensor>
   </gazebo>

turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf.xacro

 <?xml version="1.0" ?>
-<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="turtlebot3_waffle_pi" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
   <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle_pi.gazebo.xacro"/>
 

turtlebot3_navigation/launch/turtlebot3_navigation.launch

 <launch>
-  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle]"/>
+  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
 
   <!-- Turtlebot3 -->
   <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch" />

turtlebot3_navigation/param/costmap_common_params_waffle_pi.yaml

+obstacle_range: 2.5
+raytrace_range: 3.5
+footprint: [[-0.205, -0.145], [-0.205, 0.145], [0.077, 0.145], [0.077, -0.145]]
+#robot_radius: 0.17
+inflation_radius: 0.20
+cost_scaling_factor: 0.5
+map_type: costmap
+transform_tolerance: 0.2
+observation_sources: scan
+scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true}