Gazebo/DarkGrey 0.1 0.1 500000.0 10.0 0.001 0.1 1 0 0 Gazebo/FlatBlack 0.1 0.1 500000.0 10.0 0.001 0.1 1 0 0 Gazebo/FlatBlack 0.1 0.1 1000000.0 100.0 0.001 1.0 Gazebo/FlatBlack true $(arg imu_visual) Gazebo/FlatBlack cmd_vel odom odom world true base_footprint false true true false 30 wheel_left_joint wheel_right_joint 0.160 0.066 1 10 na true imu_link imu_link imu imu_service 0.0 200 gaussian 0.0 2e-4 0.0000075 0.0000008 0.0 1.7e-2 0.1 0.001 Gazebo/FlatBlack 0 0 0 0 0 0 $(arg laser_visual) 5 360 1 0.0 6.28319 0.120 3.5 0.015 gaussian 0.0 0.01 scan base_scan