diff --git a/launch/gazebo_with_ex_tool.launch b/launch/gazebo_with_ex_tool.launch
new file mode 100644
index 0000000..6c7a739
--- /dev/null
+++ b/launch/gazebo_with_ex_tool.launch
@@ -0,0 +1,27 @@
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diff --git a/meshes/starter_kit_base.stl b/meshes/starter_kit_base.stl
index e8dca5a..bf54e15 100644
Binary files a/meshes/starter_kit_base.stl and b/meshes/starter_kit_base.stl differ
diff --git a/urdf/swd_starter_kit.urdf b/urdf/swd_starter_kit.urdf
index 0b26442..bbbfec3 100644
--- a/urdf/swd_starter_kit.urdf
+++ b/urdf/swd_starter_kit.urdf
@@ -1,274 +1,323 @@
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- /swd_diff_drive_controller/odom
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- 0.09
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- gaussian
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- scan
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diff --git a/urdf/swd_starter_kit_with_ex_tool.urdf b/urdf/swd_starter_kit_with_ex_tool.urdf
new file mode 100644
index 0000000..33f62c9
--- /dev/null
+++ b/urdf/swd_starter_kit_with_ex_tool.urdf
@@ -0,0 +1,316 @@
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