Restructure as Stack according to ROS
launched in gazebo
launch file
update urdf
updated_model.
semi_fixed
visible in Gazebo 
with changes like 
<mass value="2.0001" />
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.5"/>
texture working in rviz
hokuyo
model_final_rviz_without_sensors