Update model

[MiriamCalafa]

New wheels, metal spacers, launch color parameters, added components (encoder button, OLED screen)

[kruusamae]

only base_link should be jointed to base_footprint. the spacers should never be jointed to base_footprint. the entire robot should be functional without base_footprint, which is only a virtual helper link

[kruusamae]

@MiriamCalafa i now observe that this is something that is coming from work that was done before you but please try to to fix this. the general issue appears to be that in the file urdf/gen3/base.urdf.xacro the property base_elevation doesn't make sense as-is. i don't know where the origin of your frame_module_pla.STL is but most logical base_link origin location is either at the bottom of this link or in the middle of this link in the z-direction. ground clearance should not matter at all. we don't build a robot from the ground, we build it from its base_link. every link/component of the robot should either directly or via some other link be related to the base_link, and never to the base_footprint. the base_footprint defines where is the ground plane related to the robot's base_link. can you revisit the entire gen3/base.urdf.xacro file and fix geometrical relations than currently make use of this frame_elevation or frame_ground_clearance for no good reason.
it might turn our that the variable frame_elevation is completely useless and can be deleted.
here are some lines that need revising in my opinion but there might be others:

robotont_description/urdf/gen3/base.urdf.xacro

Line 17 in 45b48ea

<xacro:property name="frame_elevation" value="${frame_height / 2 + frame_ground_clearance}"/>

robotont_description/urdf/gen3/base.urdf.xacro

Line 22 in 45b48ea

<origin rpy="0 0 ${pi/2}" xyz="0 0 ${frame_elevation}"/>

robotont_description/urdf/gen3/base.urdf.xacro

Line 34 in 45b48ea

<origin rpy="${pi/2} 0 ${pi/2}" xyz="0 0 ${frame_elevation}"/>

robotont_description/urdf/gen3/base.urdf.xacro

Line 57 in 45b48ea

<origin rpy="0 0 ${pi/2}" xyz="0 0 ${frame_elevation}"/>

robotont_description/urdf/gen3/base.urdf.xacro

Lines 68 to 70 in 45b48ea

	<parent link="${prefix}base_footprint"/>
	<child link="${prefix}base_link_spacers"/>
	<origin xyz="0 0 0" rpy="0 0 ${frame_elevation}"/>

robotont_description/urdf/gen3/base.urdf.xacro

Line 89 in 45b48ea

<origin xyz="0.0025 0 ${frame_ground_clearance + pcb_offset}" rpy="0 ${pi / 2} 0"/>

robotont_description/urdf/gen3/base.urdf.xacro

Lines 108 to 109 in 45b48ea

	<origin
	xyz="0.0075 0.115 ${frame_ground_clearance + frame_height - e_button_offset}"

robotont_description/urdf/gen3/base.urdf.xacro

Line 131 in 45b48ea

xyz="-0.0472 0.111 ${frame_ground_clearance + frame_height - 0.001}"

robotont_description/urdf/gen3/base.urdf.xacro

Line 153 in 45b48ea

xyz="-0.07 0.12 ${frame_ground_clearance + frame_height - 0.007}"

robotont_description/urdf/gen3/base.urdf.xacro

Line 175 in 45b48ea

xyz="0.08 0 ${frame_ground_clearance + frame_height + 0.0025}"

robotont_description/urdf/gen3/base.urdf.xacro

Line 197 in 45b48ea

xyz="-0.0325 0.1185 ${frame_ground_clearance + frame_height-0.0015}"