transmission_interface/SimpleTransmission hardware_interface/VelocityJointInterface hardware_interface/VelocityJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/VelocityJointInterface hardware_interface/VelocityJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/VelocityJointInterface hardware_interface/VelocityJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/VelocityJointInterface hardware_interface/VelocityJointInterface 1 true 50.0 base_link ground_truth/state 0.01 world 0 0 0 0 0 0 true 50.0 base_link imu/data 0.0 0.0 0.0 0.1 0.1 0.1 0.0 0.0 0.0 0.05 0.05 0.05 0.0 0.05 true true /cmd_vel_raw base_link flipper_front_left_link flipper_back_left_link flipper_front_right_link flipper_back_right_link 0.7 150 0.34 0.5 1.0 1.0 ~/robot_description_gazebo/cmd_vel telemax_control arm_joint_0 arm_joint_1 arm_joint_2 arm_joint_3 arm_joint_4 arm_joint_5 gripper_joint flipper_front_left_joint flipper_front_right_joint flipper_back_left_joint flipper_back_right_joint gripper_joint left_finger_middle_joint 5.1 -0.12 4 gripper_joint left_finger_end_joint -5.1 0.12 4 gripper_joint right_finger_middle_joint 5.1 -0.12 4 gripper_joint right_finger_end_joint -5.1 0.12 4 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1 1 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1 1 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1 1 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1 1 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1 1 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1 1 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1 1 Gazebo/Grey Gazebo/Grey 20 1.21125850088 B8G8R8 640 480 0.3 9.0 realsense_d435_back color/image_raw color/camera_info depth/image_raw depth/camera_info depth/points realsense_d435_back_color_optical_frame 0 0 0 0 0 0 false 10 512 1 -3.14159265359 3.14159265359 8 1 -0.261799387799 0.261799387799 0.1 100 0.001 gaussian 0.0 0.0 /spin_lidar/vlp16 spin_lidar_laser_frame 0.1 100 0.008 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 1 1 spin_lidar_control spin_lidar_spin_joint 0.1 0.1 0.1 1 0.48 0.48 0.48 1 0.237 0.237 0.237 1 0.8 0.8 0.8 1 10 3.14 R8G8B8 1504 1504 0.01 100 stereographic true 1.5707 512 camera360/right image_raw not_used camera360_right_optical_frame 10 3.14 R8G8B8 1504 1504 0.01 100 stereographic true 1.5707 512 camera360/left image_raw not_used camera360_left_optical_frame Gazebo/Grey 9 0.872664625997 R8G8B8 640 512 0.01 10 true 9 arm_thermal_cam image_raw camera_info arm_thermal_cam_optical_frame Gazebo/Grey 20 1.21125850088 B8G8R8 640 480 0.3 9.0 arm_rgbd_cam color/image_raw color/camera_info depth/image_raw depth/camera_info depth/points arm_rgbd_cam_color_optical_frame 5 2.26892802759 R8G8B8 1920 1080 0.01 100 arm_wide_angle_cam /arm_wide_angle_cam/image_raw /arm_wide_angle_cam/camera_info arm_wide_angle_cam_optical_frame 1 0.698131700798 R8G8B8 1920 1080 0.01 100 arm_tele_cam /arm_tele_cam/image_raw /arm_tele_cam/camera_info arm_tele_cam_optical_frame