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0.00000001 0.00000001 0.00000001 0.00000001 true PR2/Blue 640 480 BAYER_BGGR8 90 0.1 100 25.0 true 25.0 wide_stereo/right/image_raw wide_stereo/right/camera_info wide_stereo_optical_frame 0.09 320.5 320.5 240.5 320 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 true PR2/Blue 640 480 L8 45 0.1 100 25.0 true 25.0 narrow_stereo/left/image_raw narrow_stereo/left/camera_info narrow_stereo_optical_frame 0 320.5 320.5 240.5 772.55 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 true PR2/Blue 640 480 L8 45 0.1 100 25.0 true 25.0 narrow_stereo/right/image_raw narrow_stereo/right/camera_info narrow_stereo_optical_frame 0.09 320.5 320.5 240.5 772.55 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 true PR2/Blue true 15.0 stereo_projection_pattern_high_res_red.png projector_wg6802418_child_frame stereo_projection_pattern_filter.png projector_wg6802418_controller/image projector_wg6802418_controller/projector 0.785398163397 0.4 10 640 640 1 0.0 0.0 0.0 false -79.9999999086 79.9999999086 0.08 10.0 0.01 40 0.005 true 40 tilt_scan laser_tilt_link -6.05 true 32.6525111499 true true 63.1552452977 61.8948225713 true true -90.5142857143 -1.0 true -36.167452007 true true true true r_gripper_l_finger_link_geom 100.0 true 100.0 r_gripper_l_finger_link r_gripper_l_finger_bumper true r_gripper_r_finger_link_geom 100.0 true r_gripper_r_finger_link 100.0 r_gripper_r_finger_bumper true false r_gripper_l_finger_tip_link_geom 100.0 true r_gripper_l_finger_tip_link 100.0 r_gripper_l_finger_tip_bumper true false r_gripper_r_finger_tip_link_geom 100.0 true r_gripper_r_finger_tip_link 100.0 r_gripper_r_finger_tip_bumper true 100.0 r_gripper_l_finger_link r_gripper_l_finger_pose_ground_truth 0.0 base_link true 100.0 r_gripper_l_finger_link r_gripper_l_finger_force_ground_truth r_gripper_l_finger_link true 0.17126 7.7562e-05 1.49095e-06 -9.83385e-06 0.000197083 -3.06125e-06 0.000181054 0.03598 0.0173 -0.00164 0.82991 -0.157 0.790675 0 -0 0 true false true 0.17389 7.73841e-05 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l_gripper_l_finger_bumper true l_gripper_r_finger_link_geom 100.0 true l_gripper_r_finger_link 100.0 l_gripper_r_finger_bumper true false l_gripper_l_finger_tip_link_geom 100.0 true l_gripper_l_finger_tip_link 100.0 l_gripper_l_finger_tip_bumper true false l_gripper_r_finger_tip_link_geom 100.0 true l_gripper_r_finger_tip_link 100.0 l_gripper_r_finger_tip_bumper true 100.0 l_gripper_l_finger_link l_gripper_l_finger_pose_ground_truth 0.0 base_link true 100.0 l_gripper_l_finger_link l_gripper_l_finger_force_ground_truth l_gripper_l_finger_link true 0.17126 7.7562e-05 1.49095e-06 -9.83385e-06 0.000197083 -3.06125e-06 0.000181054 0.03598 0.0173 -0.00164 0.82991 0.219 0.790675 0 -0 0 true false true 0.17389 7.73841e-05 -2.09309e-06 -8.36228e-06 0.000198474 2.4611e-06 0.00018107 0.03576 -0.01736 -0.00095 0.82991 0.157 0.790675 0 -0 0 true false l_gripper_r_parallel_link l_gripper_palm_link l_gripper_palm_link 0 0 -1 0.2 0.05891 -0.031 0 l_gripper_l_parallel_link l_gripper_palm_link l_gripper_palm_link 0 0 1 0.2 0.05891 0.031 0 l_gripper_r_parallel_link l_gripper_r_finger_tip_link l_gripper_r_finger_tip_link 0 0 1 -0.018 -0.021 0 l_gripper_l_parallel_link l_gripper_l_finger_tip_link l_gripper_l_finger_tip_link 0 0 1 -0.018 0.021 0 l_gripper_l_finger_tip_link l_gripper_r_finger_tip_link l_gripper_r_finger_tip_link 0 1 0 true true true l_gripper_palm_link_geom 100.0 true 100.0 l_gripper_palm_link l_gripper_palm_bumper true 100.0 l_gripper_palm_link l_gripper_palm_pose_ground_truth 0 0 0 0 0 0 0.0 map 640 480 L8 90 0.1 100 25.0 true 25.0 l_forearm_cam/image_raw l_forearm_cam/camera_info l_forearm_cam_optical_frame 0 320.5 320.5 240.5 320 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 true PR2/Blue 640 480 L8 90 0.1 100 25.0 true 25.0 r_forearm_cam/image_raw r_forearm_cam/camera_info r_forearm_cam_optical_frame 0 320.5 320.5 240.5 320 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 true PR2/Blue