false $(arg robot_namespace) cmd_vel:=cmd_vel odom:=odom false 50.0 middle_left_wheel_joint middle_right_wheel_joint ${traction_track_width+traction_wheel_width-0.01} ${2*traction_wheel_radius+0.01} base_footprint ${traction_max_wheel_torque} cmd_vel $(arg wheel_odom_topic) odom $(arg publish_wheel_odom_tf) true true 5.0 1 0 true 5 $(arg robot_namespace) ~/out:=imu $(arg robot_namespace) odom:=p3d_ground_truth true 30.0 base_footprint 0.00 $(arg ground_truth_frame) true 0 0 0 0 0 0 false ${two_d_lidar_update_rate} ${two_d_lidar_sample_size} 1 ${radians(two_d_lidar_min_angle)} ${radians(two_d_lidar_max_angle)} ${two_d_lidar_min_range} ${two_d_lidar_max_range} 0.01 gaussian 0.0 0.0 ~/out:=$(arg robot_namespace)/scan sensor_msgs/LaserScan two_d_lidar 0 0 0 0 0 0 true 30 1.089 R8G8B8 640 480 0.05 8.0 $(arg robot_namespace) kinect_camera_optical 0.1 100 10.0 true 0 0 0 0 0 0 1.3962634 1024 1024 R8G8B8 0.3 20 gaussian 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.5 0.5 0 -0.12 0 0 0 0 1.3962634 1024 1024 R8G8B8 0.3 20 gaussian 0.0 0.0 0.0 0.00 0.0 0.0 0.0 0.5 0.5 $(arg robot_namespace) image_raw:=image_raw camera_info:=camera_info stereo_camera stereo_camera_optical 0.12