0 0 0 0 -0 0 0 0 0 0 -0 0 20.0 0.37083 0.0 0.0 0.37083 0.0 0.53333 0 0 0.15 0 -0 0 0.4 0.4 0.25 0 0 0 0 -0 0 1 1 1 model://r1_rover/meshes/chassis_link.STL 1.0 1.0 1.0 1.0 1.0 1.0 0 0 0.114486 0 -0 0 1 1 1 model://r1_rover/meshes/top_link.STL 1.0 1.0 1.0 1.0 1.0 1.0 -0.09302 -0.000128 0.114486 0 -0 0 1 1 1 model://r1_rover/meshes/battery_link.STL 0.0 0.0 0.0 0.5 0.5 0.5 0.03473 0 0.114486 0 -0 0 1 1 1 model://r1_rover/meshes/housing_link.STL 0.0 0.0 0.0 0.5 0.5 0.5 -0.1565 0.0762 0.114486 0 -0 0 1 1 1 model://r1_rover/meshes/antenna_link.STL 0.0 0.0 0.0 0.5 0.5 0.5 -0.1565 -0.0762 0.114486 0 -0 0 1 1 1 model://r1_rover/meshes/antenna_link.STL 0.0 0.0 0.0 0.5 0.5 0.5 1 base_link 1 250 0 0.0003394 3.8785e-05 1000 0 0.0003394 3.8785e-05 1000 0 0.0003394 3.8785e-05 1000 0 0.004 0.006 300 0 0.004 0.006 300 0 0.004 0.006 300 base_link 1 50 0 0.01 base_link 1 100 0.0001 0.0001 0.0001 base_link 1 30 0.15 0.16317 0.0215 0 -0 0 0 0 0 1.57079632679 0 0 0.414 0.00068682 0 0 0.00068682 0 0.00097299 0 0 0 1.57079632679 0 0 0.0686 0.0762 1 0.25 1 0.0686 1.0 1.0 1 0 0 0.0 0.0 0 1e6 0.001 0.0 1.0e6 100.0 0 0 0 0 -0 0 1 1 1 model://r1_rover/meshes/wheel_link.STL 0.0 0.0 0.0 0.5 0.5 0.5 1 lf_wheel_link base_link 0 1 0 -1e+16 1e+16 0 0 1 -0.15 0.16317 0.0215 0 -0 0 0 0 0 1.57079632679 0 0 0.414 0.00068682 0 0 0.00068682 0 0.00097299 0 0 0 1.57079632679 0 0 0.0686 0.0762 1 0.25 1 0.0686 1.0 1.0 1 0 0 0.0 0.0 0 1e6 0.001 0.0 1.0e6 100.0 0 0 0 0 -0 0 1 1 1 model://r1_rover/meshes/wheel_link.STL 0.0 0.0 0.0 0.5 0.5 0.5 1 lb_wheel_link base_link 0 1 0 -1e+16 1e+16 0 0 1 0.15 -0.16317 0.0215 0 -0 0 0 0 0 1.57079632679 0 0 0.414 0.00068682 0 0 0.00068682 0 0.00097299 0 0 0 1.57079632679 0 0 0.0686 0.0762 1 0.25 1 0.0686 1.0 1.0 1 0 0 0.0 0.0 0 1e6 0.001 0.0 1.0e6 100.0 0 0 0 0 -0 0 1 1 1 model://r1_rover/meshes/wheel_link.STL 0.0 0.0 0.0 0.5 0.5 0.5 1 rf_wheel_link base_link 0 -1 0 -1e+16 1e+16 0 0 1 -0.15 -0.16317 0.0215 0 -0 0 0 0 0 1.57079632679 0 0 0.414 0.00068682 0 0 0.00068682 0 0.00097299 0 0 0 1.57079632679 0 0 0.0686 0.0762 1 0.25 1 0.0686 1.0 1.0 1 0 0 0.0 0.0 0 1e6 0.001 1e8 0 0 0 0 -0 0 1 1 1 model://r1_rover/meshes/wheel_link.STL 0.0 0.0 0.0 0.5 0.5 0.5 1 rb_wheel_link base_link 0 -1 0 -1e+16 1e+16 0 0 1 0 motor_0 command/motor_speed true 1 10.0 motor_1 command/motor_speed true 1 10.0 motor_2 command/motor_speed true 0 10.0 motor_3 command/motor_speed true 0 10.0 motor_0 motor_1 motor_2 motor_3