640 480 R8G8B8 62.8 0.1 10 2.0 true 5000.0 camera/rgb camera_rgb_optical_frame 0.0 320.5 320.5 240.5 0.09 525 camera/rgb true R8G8B8 640 480 60 0.05 3 20 0.1 true 20 /camera/image_raw /camera/depth/points /camera/camera_info camera_depth_optical_frame 0.0 0.0 0.0 0.0 0.0 true 30 gyro_link imu/data ${0.0017*0.0017} 0 0 0 0 0 0 180 180 1 0.0 0.0 0.0 false -130 130 0.08 10.0 0.01 20 0.005 true 20 scan laser true turtlebot_node left_wheel_joint right_wheel_joint front_castor_joint rear_castor_joint .260 0.066 base_link_geom_base_link 40 1.0 true 1 1 0.1 0 0 0.0160 0.04 false true 1 1 0.1 0 0 0.01 0.04 false true 1 1 0.1 0 0 0.01 0.04 false true 1 1 0.1 0 0 0.01 0.04 false true 1 1 0.1 0 0 0.01 0.04 fan