Gazebo/Green false 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 Gazebo/Orange Gazebo/Red Gazebo/Black Gazebo/Red Gazebo/Black Gazebo/Red true true 0 0 0 0 0 0 15 720 1 -3.1415926 3.1415926 0.05 30.0 0.01 gaussian 0.0 0.01 ~/out:=scan sensor_msgs/LaserScan laser_frame 30.0 1.3962634 1920 1080 R8G8B8 0.02 300 gaussian 0.0 0.007 true 0.0 / cam camera_info camera_link 0.07 0.0 0.0 0.0 0.0 0.0 2 base_to_wheel1 base_to_wheel3 base_to_wheel2 base_to_wheel4 0.26 0.26 0.12 0.12 20 1.0 true true true odom base_footprint ~/out:=joint_states 30 base_to_wheel1 base_to_wheel2 base_to_wheel3 base_to_wheel4