false 0 0 0.1 0 0 0 5.0 0.100 0.1500.1 0.4 0.3 0.15 0.4 0.3 0.15 0.3 0.3 0.8 1 0 0.175 0.05 -1.5708 0 0 0.5 0.00100 0.00100.001 0.050.04 1.01.0 0.050.04 0.1 0.1 0.1 1 0 -0.175 0.05 -1.5708 0 0 0.5 0.00100 0.00100.001 0.050.04 1.01.0 0.050.04 0.1 0.1 0.1 1 -0.15 0 0.025 0 0 0 0.1 0.000100 0.000100.0001 0.025 0.00.0 0.025 0.1 0.1 0.1 1 base_link left_wheel 0 0 1 base_link right_wheel 0 0 1 base_link caster 0.22 0 0.15 0 0 0 0.01 0.0000100 0.0000100.00001 0.02 0.04 0.02 0 0 0 1 1.57 640480R8G8B8 0.150 1 30 /ugv image_raw:=camera/forward/image_raw camera_info:=camera/forward/camera_info forward_camera camera_link base_link camera_link /ugv left_wheel_joint right_wheel_joint 0.35 0.1 5 2.0 cmd_vel odom odom base_link true true true