I need a clean, well-structured URDF (ideally in Xacro) and a complete TF tree for my custom wheeled robot so I can plug it straight into a ROS 2 workflow later on. The focus right now is the model itself—SLAM and Nav2 will come after—so accuracy of links, joints, and reference frames is critical. The base footprint, two drive wheels, any caster(s), and placeholders for typical sensors (LIDAR, depth camera) must be defined so they render correctly in RViz and broadcast the right transforms at runtime. Launch files for testing in RViz2 and simple gazebo-ready inertial parameters would be helpful, but the core requirement is a URDF package that builds cleanly with colcon and publishes an unbroken TF tree. Deliverables • URDF/Xacro files with clear hierarchy • Static and dynamic transform configuration • Minimal launch file for RViz2 visualisation • Short README explaining build steps and frame conventions If you have existing templates for wheeled bases or experience migrating from ROS 1 to ROS 2, mention it—consistency with ROS 2 best practices matters to me.