0.0 0.0 1000000.0 100.0 0.001 1.0 true 50.0 base_link ground_truth/state 0.01 world 0 0 0 0 0 0 true 50.0 base_link imu_quat 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 flipper_control flipper_front_joint flipper_back_joint transmission_interface/SimpleTransmission hardware_interface/VelocityJointInterface hardware_interface/VelocityJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/VelocityJointInterface hardware_interface/VelocityJointInterface 1 true true true true true true 0 0.18 0.32 1 0 0.18 0.32 1 0.1 0.1 0.1 1 0 0 0 0 Gazebo/FlatBlack Gazebo/FlatBlack Gazebo/FlatBlack Gazebo/FlatBlack Gazebo/FlatBlack Gazebo/FlatBlack /cmd_vel_raw base_link main_track_left_link flipper_front_left_link flipper_back_left_link main_track_right_link flipper_front_right_link flipper_back_right_link 0.7 150 0.49882000000000004 0.5 1.0 1.0 ~/robot_description_gazebo/cmd_vel 0 0 0 0 0 0 false 10 512 1 -3.141592653589793 3.141592653589793 8 1 -0.2617993877991494 0.2617993877991494 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 3.141592653589793 R8G8B8 1504 1504 0.01 100 stereographic true 1.5707 512 camera360/right image_raw not_used camera360_right_optical_frame 10 3.141592653589793 R8G8B8 1504 1504 0.01 100 stereographic true 1.5707 512 camera360/left image_raw not_used camera360_left_optical_frame Gazebo/Grey 20 1.2112585008840648 B8G8R8 640 480 0.3 9.0 front_rgbd_cam color/image_rect_color color/camera_info depth/image_raw depth/camera_info depth/color/points front_rgbd_cam_color_optical_frame Gazebo/Grey 20 1.2112585008840648 B8G8R8 640 480 0.3 9.0 back_rgbd_cam color/image_rect_color color/camera_info depth/image_raw depth/camera_info depth/color/points back_rgbd_cam_color_optical_frame Gazebo/DarkGrey world base_link /tracker/odometry 100.0 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 Gazebo/DarkGrey Gazebo/DarkGrey Gazebo/DarkGrey transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 1 sensor_head_control sensor_head_yaw_joint sensor_head_pitch_joint Gazebo/Grey 10 1.5707963267948966 R8G8B8 206 156 0.01 10 true 10 sensor_head_thermal_cam image_raw camera_info sensor_head_thermal_cam_optical_frame Gazebo/Grey 20 1.2112585008840648 B8G8R8 640 480 0.3 9.0 sensor_head_rgbd_cam color/image_rect_color color/camera_info depth/image_raw depth/camera_info depth/points sensor_head_rgbd_cam_color_optical_frame 0.2 0.2 Gazebo/DarkGrey 0.2 0.2 Gazebo/DarkGrey 0.2 0.2 Gazebo/DarkGrey 0.2 0.2 Gazebo/DarkGrey 0.2 0.2 Gazebo/DarkGrey 0.2 0.2 Gazebo/DarkGrey 0.2 0.2 Gazebo/DarkGrey transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1 0.2 0.2 Gazebo/DarkGrey transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1 gripper_servo_joint gripper_joint_r1 1 0 4 0.2 0.2 Gazebo/DarkGrey s gripper_servo_joint gripper_joint_r2 0.909 0 4 0.2 0.2 Gazebo/DarkGrey gripper_servo_joint gripper_joint_l1 1 0 4 0.2 0.2 Gazebo/DarkGrey s gripper_servo_joint gripper_joint_l2 0.909 0 4 0.2 0.2 Gazebo/DarkGrey manipulator_arm_control arm_joint_0 arm_joint_1 arm_joint_2 arm_joint_3 arm_joint_4 arm_joint_5 gripper_servo_joint /ui_emergency_stop