0.1 0.1 500.0 10.0 0.001 0.5 1 0 0 0.1 0.1 500.0 10.0 0.001 0.5 1 0 0 cmd_vel odom odom encoder true base_footprint false true true false 30 left_wheel_hinge right_wheel_hinge 0.096 0.065 1 1 na true $(arg camera_visualize) 2.79253 1280 720 R8G8B8 0.01 1 gaussian 0.0 0.01 true 30.0 camera camera_link rgb/image_raw rgb/camera_info 0.07 0.0 0.0 0.0 0.0 0.0 0 0 0 0 0 0 $(arg laser_visualize) 5 428 0.84 0 6.28319 0.1 8 0.01 gaussian 0.0 0.01 scan lidar_link