true 1000.0 true 1000.0 true 1.0 5 -10.0 1.0 10.0 1200000.0 diagnostic battery_state self_test true 1000.0 -75.0676691729 fl_caster_l_wheel_link_geom 100.0 true 100.0 fl_caster_l_wheel_bumper 75.0676691729 fl_caster_r_wheel_link_geom 100.0 true 100.0 fl_caster_r_wheel_bumper -75.0676691729 -75.0676691729 fr_caster_l_wheel_link_geom 100.0 true 100.0 fr_caster_l_wheel_bumper 75.0676691729 fr_caster_r_wheel_link_geom 100.0 true 100.0 fr_caster_r_wheel_bumper -75.0676691729 -75.0676691729 bl_caster_l_wheel_link_geom 100.0 true 100.0 bl_caster_l_wheel_bumper 75.0676691729 bl_caster_r_wheel_link_geom 100.0 true 100.0 bl_caster_r_wheel_bumper -75.0676691729 -75.0676691729 br_caster_l_wheel_link_geom 100.0 true 100.0 br_caster_l_wheel_bumper 75.0676691729 br_caster_r_wheel_link_geom 100.0 true 100.0 br_caster_r_wheel_bumper -75.0676691729 base_link_geom 100.0 true 100.0 base_bumper base_link true 100.0 base_link base_pose_ground_truth 0.01 map 25.7 25.7 0 0 0 0 true 100.0 plug_holder plug_holder_pose_ground_truth 0.01 map 0 0 0 0 0 0 640 640 1 0.0 0.0 0.0 false -135 135 0.05 10.0 0.01 20.0 0.005 true 20.0 base_scan base_laser_link torso_lift_link_geom 100.0 true 100.0 torso_lift_bumper true 100.0 torso_lift_link imu_data 0.01 map 0 0 0 0 0 0 -52143.33 6.0 6.0 R8G8B8 2448 2050 45 0.1 100 20.0 true 20.0 prosilica/cam_info prosilica/image prosilica/image_rect prosilica/cam_info_service prosilica/poll hight_def_optical_frame 1224.5 1224.5 1025.5 2955 0 0 0 0 0 640 480 L8 90 0.1 100 20.0 true 20.0 wide_stereo/left_image wide_stereo_l_stereo_camera_frame 640 480 L8 90 0.1 100 20.0 true 20.0 wide_stereo/right_image wide_stereo_r_stereo_camera_frame true 20.0 wide_stereo_l_sensor wide_stereo_r_sensor wide_stereo/raw_stereo wide_stereo_optical_frame 320 320 240 320 0 0 0 0 0 -0.09 640 480 L8 45 0.1 100 20.0 true 20.0 narrow_stereo/left_image narrow_stereo_l_stereo_camera_frame 640 480 L8 45 0.1 100 20.0 true 20.0 narrow_stereo/right_image narrow_stereo_r_stereo_camera_frame true 20.0 narrow_stereo_l_sensor narrow_stereo_r_sensor narrow_stereo/raw_stereo narrow_stereo_optical_frame 320 320 240 772.55 0 0 0 0 0 -0.09 640 640 1 0.0 0.0 0.0 false -80 80 0.05 10.0 0.01 40.0 0.005 true 40.0 tilt_scan laser_tilt_link 6.0 r_shoulder_pan_link_geom 100.0 true 100.0 r_shoulder_pan_bumper true r_shoulder_lift_link_geom 100.0 true 100.0 r_r_shoulder_lift_bumper true true r_upper_arm_link_geom 100.0 true 100.0 r_upper_arm_bumper true r_elbow_flex_link_geom 100.0 true 100.0 r_elbow_flex_bumper true true true r_forearm_link_geom 100.0 true 100.0 r_forearm_bumper true r_wrist_flex_link_geom 100.0 true 100.0 r_wrist_flex_bumper true r_wrist_roll_link_geom 100.0 true 100.0 r_wrist_roll_bumper 63.16 61.89 32.65 -36.17 90.5142857143 true r_gripper_l_finger_link_geom 100.0 true 100.0 r_gripper_l_finger_bumper true r_gripper_r_finger_link_geom 100.0 true 100.0 r_gripper_r_finger_bumper true r_gripper_l_finger_tip_link_geom 100.0 true 100.0 r_gripper_l_finger_tip_bumper true r_gripper_r_finger_tip_link_geom 100.0 true 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 map true 100.0 r_gripper_l_finger_link r_gripper_l_finger_force_ground_truth r_gripper_l_finger_link true r_gripper_palm_link_geom 100.0 true 100.0 r_gripper_palm_bumper true r_gripper_l_finger_tip_link r_gripper_float_link r_gripper_l_finger_tip_link 0 1 0 0 0 0 r_gripper_r_finger_tip_link r_gripper_float_link r_gripper_r_finger_tip_link 0 1 0 0 0 0 true 100.0 r_gripper_palm_link r_gripper_palm_pose_ground_truth 0 0 0 0 0 0 0.0 map true 100.0 r_gripper_tool_frame r_gripper_tool_frame_pose_ground_truth 0 0 0 0 0 0 0.0 /map true l_shoulder_pan_link_geom 100.0 true 100.0 l_shoulder_pan_bumper true l_shoulder_lift_link_geom 100.0 true 100.0 l_r_shoulder_lift_bumper true true l_upper_arm_link_geom 100.0 true 100.0 l_upper_arm_bumper true l_elbow_flex_link_geom 100.0 true 100.0 l_elbow_flex_bumper true true true l_forearm_link_geom 100.0 true 100.0 l_forearm_bumper true l_wrist_flex_link_geom 100.0 true 100.0 l_wrist_flex_bumper true l_wrist_roll_link_geom 100.0 true 100.0 l_wrist_roll_bumper 63.16 61.89 32.65 -36.17 90.5142857143 true l_gripper_l_finger_link_geom 100.0 true 100.0 l_gripper_l_finger_bumper true l_gripper_r_finger_link_geom 100.0 true 100.0 l_gripper_r_finger_bumper true l_gripper_l_finger_tip_link_geom 100.0 true 100.0 l_gripper_l_finger_tip_bumper true l_gripper_r_finger_tip_link_geom 100.0 true 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 map true 100.0 l_gripper_l_finger_link l_gripper_l_finger_force_ground_truth l_gripper_l_finger_link true l_gripper_palm_link_geom 100.0 true 100.0 l_gripper_palm_bumper true l_gripper_l_finger_tip_link l_gripper_float_link l_gripper_l_finger_tip_link 0 1 0 0 0 0 l_gripper_r_finger_tip_link l_gripper_float_link l_gripper_r_finger_tip_link 0 1 0 0 0 0 true 100.0 l_gripper_palm_link l_gripper_palm_pose_ground_truth 0 0 0 0 0 0 0.0 map true 100.0 l_gripper_tool_frame l_gripper_tool_frame_pose_ground_truth 0 0 0 0 0 0 0.0 /map true 640 480 L8 90 0.1 100 20.0 true 20.0 l_forearm_cam/image l_forearm_cam_frame true PR2/Blue true 640 480 L8 90 0.1 100 20.0 true 20.0 r_forearm_cam/image r_forearm_cam_frame true PR2/Blue true