pioneer gazebo_ros_control/DefaultRobotHWSim true true 100 base_left_wheel_joint base_right_wheel_joint 5 0.39 0.15 pioneer/cmd_vel odom odom world base_link true true true true 0 5 na true 0.2 0.2 0 0 0 0 0 0 false 40.0 550 1 -3.1415 3.1415 0.15 12.0 0.01 gaussian 0.0 0.01 base_scan laser 30 1.047198 640 480 R8G8B8 0.6 8 0.2 true 1.0 camera_ir /camera/color/image_raw /camera/color/camera_info /camera/depth/image_raw /camera/depth/camera_info /camera/depth/points OrbbecAstra_link 0.6 8.0 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 0 0 0 0 0