30.0 1 body_collision_collision /bumper_contact true 3.0 /robot_bumper body 0 0 0 0 0 0 false 5 360 1 -90 90 0.45 4.5 0.015 gaussian 0.0 0.01 scan base_scan 10.0 1.047198 640 480 R8G8B8 0.05 3 0.2 true 1.0 depthcamera /depthcamera/depth/image_raw /depthcamera/depth/camera_info /depthcamera/depth/image_raw /depthcamera/depth/camera_info /depthcamera/depth/points pointcloud_link 0.5 3.0 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 0 0 0 0 0 30.0 1.30 360 240 R8G8B8 0.02 300 gaussian 0.0 0.007 true 0.0 camera image_raw camera_info camera_link 0.07 0.0 0.0 0.0 0.0 0.0 true transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 30.0 1 rocker_left_collision_collision /bumper_contact true 3.0 /robot_bumper rocker_left transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 30.0 1 rocker_right_collision_collision /bumper_contact true 3.0 /robot_bumper rocker_right transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 30.0 1 bogie_right_collision_collision /bumper_contact true 3.0 /robot_bumper bogie_right transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 30.0 1 bogie_left_collision_collision /bumper_contact true 3.0 /robot_bumper bogie_left transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 30.0 1 corner_lb_collision_collision /bumper_contact true 3.0 /robot_bumper corner_lb transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 30.0 1 corner_rb_collision_collision /bumper_contact true 3.0 /robot_bumper corner_rb transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 30.0 1 corner_lf_collision_collision /bumper_contact true 3.0 /robot_bumper corner_lf transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 30.0 1 corner_rf_collision_collision /bumper_contact true 3.0 /robot_bumper corner_rf transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 true transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 true transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 true transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 true transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 true transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 true rover_ns gazebo_ros_control/DefaultRobotHWSim true odom odom world true true 100.0 body odom world true body imu_link imu imu_service 0 30 gaussian 0.0 2e-4 0.0000075 0.0000008 0.0 1.7e-2 0.1 0.001 true corner_lb imu_wheel_lb_link imu/wheel_lb imu_service 0 30 gaussian 0.0 2e-4 0.0000075 0.0000008 0.0 1.7e-2 0.1 0.001 true corner_rb imu_wheel_rb_link imu/wheel_rb imu_service 0 30 gaussian 0.0 2e-4 0.0000075 0.0000008 0.0 1.7e-2 0.1 0.001 true corner_lf imu_wheel_lf_link imu/wheel_lf imu_service 0 30 gaussian 0.0 2e-4 0.0000075 0.0000008 0.0 1.7e-2 0.1 0.001 true corner_rf imu_wheel_rf_link imu/wheel_rf imu_service 0 30 gaussian 0.0 2e-4 0.0000075 0.0000008 0.0 1.7e-2 0.1 0.001 true bogie_left imu_wheel_lm_link imu/wheel_lm imu_service 0 30 gaussian 0.0 2e-4 0.0000075 0.0000008 0.0 1.7e-2 0.1 0.001 true bogie_right imu_wheel_rm_link imu/wheel_rm imu_service 0 30 gaussian 0.0 2e-4 0.0000075 0.0000008 0.0 1.7e-2 0.1 0.001