ogre2 middle_left_wheel_joint middle_right_wheel_joint ${traction_track_width+traction_wheel_width-0.01} ${traction_wheel_radius+0.01} 30 /cmd_vel $(arg wheel_odom_topic) /tf odom base_footprint odom base_footprint $(arg wheel_odom_topic) /tf 2 10 scan ${two_d_lidar_update_rate} two_d_lidar ${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 0.001 1 true 30.0 kinect_camera kinect_camera kinect_camera/camera_info ${radians(camera_horizontal_fov)} 640 480 R8G8B8 0.05 8.0 1 1 imu_frame true imu 10.0 true stereo_camera_optical 0 -0.12 0 0 0 0 stereo_camera/right/image_raw stereo_camera/right/camera_info 1.3962634 1024 1024 R8G8B8 0.3 20 stereo_camera/left/image_raw 10.0 true stereo_camera_optical stereo_camera/left/camera_info 0 0 0 0 0 0 1.3962634 1024 1024 R8G8B8 0.3 20