0.9 0.9 0.005 1e8 0.9 0.9 0.005 1e8 0.9 0.9 0.005 1e8 0.9 0.9 0.005 1e8 true chassis front_left_wheel_joint front_right_wheel_joint front_left_steer_joint front_right_steer_joint rear_left_wheel_joint rear_right_wheel_joint steering_joint 0.63045 859.4004393000001 0 1031.28052716 687.5203514400001 37.998337013956565 8.981854013171626e-05 0.371 291 214 0.6458 1e4 1e4 0 0 3e2 3e2 rear_right_wheel_joint, rear_left_wheel_joint, front_right_wheel_joint, front_left_wheel_joint, front_right_steer_joint, front_left_steer_joint, steering_joint 100.0 true base_link base_pose_ground_truth map 100.0 512 1 -3.14 3.14 16 -0.1 -0.35 0.2 30 0.01 /prius/center_laser/scan center_laser_link 1 30 0 640 1 -2.26889 2.2689 1 0 0 0.2 30 0.01 /prius/front_left_laser/scan front_left_laser_link 1 30 0 640 1 -2.26889 2.2689 1 0 0 0.2 30 0.01 /prius/front_right_laser/scan front_right_laser_link 1 30 0 30.0 1.3962634 800 800 R8G8B8 0.02 300 gaussian 0.0 0.007 false 0.0 /prius/front_camera image_raw /prius/front_camera_info camera_link 0.07 0.0 0.0 0.0 0.0 0.0 30.0 1.3962634 800 800 R8G8B8 0.02 300 gaussian 0.0 0.007 false 0.0 /prius/back_camera image_raw /prius/back_camera_info camera_link 0.07 0.0 0.0 0.0 0.0 0.0 30.0 1.3962634 800 800 R8G8B8 0.02 300 gaussian 0.0 0.007 false 0.0 /prius/left_camera image_raw /prius/left_camera_info camera_link 0.07 0.0 0.0 0.0 0.0 0.0 30.0 1.3962634 800 800 R8G8B8 0.02 300 gaussian 0.0 0.007 false 0.0 /prius/right_camera image_raw /prius/right_camera_info camera_link 0.07 0.0 0.0 0.0 0.0 0.0 1 1 0 0 1 0 0 0.2 5 0.1 /prius/back_sonar/left_far_range back_left_far_sonar_link false 5 0 1 1 0 0 1 0 0 0.2 5 0.1 /prius/back_sonar/left_middle_range back_left_middle_sonar_link false 5 0 1 1 0 0 1 0 0 0.2 5 0.1 /prius/back_sonar/right_far_range back_right_far_sonar_link false 5 0 1 1 0 0 1 0 0 0.2 5 0.1 /prius/back_sonar/right_middle_range back_right_middle_sonar_link false 5 0 1 1 0 0 1 0 0 0.2 5 0.1 /prius/front_sonar/left_far_range front_left_far_sonar_link false 5 0 1 1 0 0 1 0 0 0.2 5 0.1 /prius/front_sonar/left_middle_range front_left_middle_sonar_link false 5 0 1 1 0 0 1 0 0 0.2 5 0.1 /prius/front_sonar/right_far_range front_right_far_sonar_link false 5 0 1 1 0 0 1 0 0 0.2 5 0.1 /prius/front_sonar/right_middle_range front_right_middle_sonar_link false 5 0