0.0 0.0 0.0 0.0 0.0 0.0 -0.064 0 0.048 0 0 0 4.2111447e-02 0 0 4.2111447e-02 0 7.5254874e-02 1.3729096e+00 -0.064 0 0.048 0 0 0 0.265 0.265 0.089 -0.064 0 0 0 0 0 model://turtlebot3_common/meshes/bases/waffle_base.stl 0.001 0.001 0.001 0.3 0.3 0.3 1.0 0.3 0.3 0.3 1.0 true 200 0.0 2e-4 0.0 2e-4 0.0 2e-4 0.0 1.7e-2 0.0 1.7e-2 0.0 1.7e-2 ~/out:=imu -0.052 0 0.111 0 0 0 0.001 0.000 0.000 0.001 0.000 0.001 0.114 -0.052 0 0.111 0 0 0 0.0508 0.055 -0.064 0 0.121 0 0 0 model://turtlebot3_common/meshes/sensors/lds.stl 0.001 0.001 0.001 0.2 0.2 0.2 1.0 0.2 0.2 0.2 1.0 true true -0.064 0 0.121 0 0 0 5 360 1.000000 0.000000 6.280000 0.120000 3.5 0.015000 gaussian 0.0 0.01 ~/out:=scan sensor_msgs/LaserScan base_scan 0.0 0.144 0.023 -1.57 0 0 1.1175580e-05 -4.2369783e-11 -5.9381719e-09 1.1192413e-05 -1.4400107e-11 2.0712558e-05 0.1 0.0 0.144 0.023 -1.57 0 0 0.033 0.018 100000.0 100000.0 0 0 0 0.0 0.0 0 0.2 1e+5 1 0.01 0.001 0.0 0.144 0.023 0 0 0 model://turtlebot3_common/meshes/wheels/right_tire.stl 0.001 0.001 0.001 0.2 0.2 0.2 1.0 0.2 0.2 0.2 1.0 0.0 -0.144 0.023 -1.57 0 0 1.1175580e-05 -4.2369783e-11 -5.9381719e-09 1.1192413e-05 -1.4400107e-11 2.0712558e-05 0.1 0.0 -0.144 0.023 -1.57 0 0 0.033 0.018 100000.0 100000.0 0 0 0 0.0 0.0 0 0.2 1e+5 1 0.01 0.001 0.0 -0.144 0.023 0 0 0 model://turtlebot3_common/meshes/wheels/left_tire.stl 0.001 0.001 0.001 0.2 0.2 0.2 1.0 0.2 0.2 0.2 1.0 -0.177 -0.064 -0.004 -1.57 0 0 0.001 0.00001 0.000 0.000 0.00001 0.000 0.00001 0.005000 0 0.2 1e+5 1 0.01 0.001 -0.177 0.064 -0.004 -1.57 0 0 0.001 0.00001 0.000 0.000 0.00001 0.000 0.00001 0.005000 0 0.2 1e+5 1 0.01 0.001 0.069 -0.047 0.107 0 0 0 0.001 0.000 0.000 0.001 0.000 0.001 0.035 0.069 -0.047 0.107 0 0 0 true true 30 1.02974 1920 1080 R8G8B8 0.02 300 gaussian 0.0 0.007 base_footprint base_link 0.0 0.0 0.010 0 0 0 base_link wheel_left_link 0.0 0.144 0.023 -1.57 0 0 0 0 1 base_link wheel_right_link 0.0 -0.144 0.023 -1.57 0 0 0 0 1 base_link caster_back_right_link base_link caster_back_left_link base_link imu_link -0.032 0 0.068 0 0 0 0 0 1 base_link base_scan -0.064 0 0.121 0 0 0 0 0 1 base_link camera_link 0.064 -0.065 0.094 0 0 0 0 0 1 camera_link camera_rgb_frame 0.005 0.018 0.013 0 0 0 0 0 1 30 wheel_left_joint wheel_right_joint 0.287 0.066 20 1.0 cmd_vel true true false odom odom base_footprint ~/out:=joint_states 30 wheel_left_joint wheel_right_joint