Added AW Lexus model (#2117)

* Added AW Lexus model

* Adapt urdf to match mesh orientation

ros/src/vehicle/vehicle_description/launch/lexus.launch

@@ -0,0 +1,19 @@
+<!-- -->
+<launch>
+  <arg name="base_frame" default="/base_link"/>
+  <arg name="topic_name" default="vehicle_model"/>
+  <arg name="offset_x" default="1.2"/>
+  <arg name="offset_y" default="0.0"/>
+  <arg name="offset_z" default="0.0"/>
+  <arg name="offset_roll" default="0.0"/> <!-- degree -->
+  <arg name="offset_pitch" default="0.0"/> <!-- degree -->
+  <arg name="offset_yaw" default="0.0"/> <!-- degree -->
+  <arg name="model_path" default="$(find vehicle_description)/urdf/lexus.urdf" />
+  <arg name="gui" default="False" />
+
+  <param name="robot_description" textfile="$(arg model_path)" />
+  <param name="use_gui" value="$(arg gui)"/>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+</launch>

ros/src/vehicle/vehicle_description/urdf/lexus.urdf

@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot name="car">
+  <link name="base_link">
+    <visual name="base_visual">
+      <origin xyz="1 0 0.0" rpy="1.57 0 3.14" />
+      <geometry>
+        <mesh filename="package://vehicle_description/mesh/lexus.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+  </link>
+</robot>