0.0 0.0 0.0 0.0 0.0 0.0 -0.032 0 0.070 0 0 0 7.2397393e-01 4.686399e-10 -1.09525703e-08 7.2397393e-01 2.8582649e-09 6.53050163e-01 8.2573504e-01 -0.032 0 0.070 0 0 0 0.140 0.140 0.140 -0.032 0 0 0 0 0 model://turtlebot3_common/meshes/bases/burger_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 -0.020 0 0.161 0 0 0 0.001 0.000 0.000 0.001 0.000 0.001 0.114 -0.020 0 0.161 0 0 0 0.0508 0.055 -0.032 0 0.171 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 -0.032 0 0.171 0 0 0 5 360 1.000000 0.000000 6.280000 0.120000 6.0 0.015000 gaussian 0.0 0.01 ~/out:=scan sensor_msgs/LaserScan base_scan 0 0.08 0.023 -1.57 0 0 1.8158194e-03 -9.3392e-12 1.04909e-11 3.2922126e-03 5.75694e-11 1.8158194e-03 2.8498940e-02 0 0.08 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 0.08 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 0.0 -0.08 0.023 -1.57 0 0 1.8158194e-03 -9.3392e-12 1.04909e-11 3.2922126e-03 5.75694e-11 1.8158194e-03 2.8498940e-02 0.0 -0.08 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 -0.08 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 -0.081 0 -0.004 -1.57 0 0 0.005 0.001 0.000 0.000 0.001 0.000 0.001 0.005000 0 0.2 1e+5 1 0.01 0.001 base_link realsense_link 0.076 0.0 0.093 0 0 0 0.076 0.0 0.093 0 0 0 0.001 0.000 0.000 0.001 0.000 0.001 0.035 0 0.047 0 0 0 0 0.008 0.130 0.022 0.076 0.0 0.093 0 0 0 1 30 0.076 0.0 0.093 0 0 0 640 480 R8G8B8 0.02 10 intel_realsense_r200_depth realsense_depth_frame 0.07 0.001 true true 30 0.076 0.0 0.093 0 0 0 1.02974 640 480 R8G8B8 0.02 300 gaussian 0.0 0.007 intel_realsense_r200_rgb realsense_rgb_frame 0.07 base_footprint base_link 0.0 0.0 0.010 0 0 0 base_link wheel_left_link 0.0 0.08 0.023 -1.57 0 0 0 0 1 base_link wheel_right_link 0.0 -0.08 0.023 -1.57 0 0 0 0 1 base_link caster_back_link base_link imu_link -0.032 0 0.068 0 0 0 0 0 1 base_link base_scan -0.032 0 0.171 0 0 0 0 0 1 30 wheel_left_joint wheel_right_joint 0.160 0.066 20 1.0 cmd_vel true true false odom odom base_footprint ~/out:=joint_states 30 wheel_left_joint wheel_right_joint