0 0 0.1 0 0 0 20.0 0.4333 0.0 0.0 1.6833 0.0 2.0833 0 0 -0.05 0 0 0 model://rover_ackermann/meshes/rover_ackermann_base.dae 1 0.5 0.1 1 50 0 3 1 100 0.0001 0.0001 0.0001 1 250 0.0 0.0008726646 0.0 0.0008726646 0.0 0.0008726646 0.0 0.00637 0.0 0.00637 0.0 0.00686 1 30 -0.25 0.3 0 -1.5707 0 0 0.5 0.000807292 0 0 0.000807292 0 0.00140625 0 0 0 0 0 0 model://rover_ackermann/meshes/rover_ackermann_wheel.dae 0.1 0.1 2.0 2.0 1 0 0 0 0 -0.25 -0.3 0 -1.5707 0 0 0.5 0.000807292 0 0 0.000807292 0 0.00140625 0 0 0 0 0 0 model://rover_ackermann/meshes/rover_ackermann_wheel.dae 0.1 0.1 2.0 2.0 1 0 0 0 0 0.25 0 0 -1.5707 0 0 0.5 0.000807292 0 0 0.000807292 0 0.00140625 0.1 0.1 2.0 2.0 1 0 0 0 0 0 0 0 0 0 0 0.005 0.0000018 0.0000018 0.0000018 base_link wheel_rear_left_link 0 1 0 base_link wheel_rear_right_link 0 1 0 base_link wheel_front_steering_link 0 0 0 0 0 0 0 0 1 -0.5236 0.5236 1 wheel_front_steering_link wheel_front_link 0 1 0 0.25 0.3 0 -1.5707 0 0 0.5 0.000807292 0 0 0.000807292 0 0.00140625 0 0 0 0 0 0 model://rover_ackermann/meshes/rover_ackermann_wheel.dae 0 0.25 -0.3 0 -1.5707 0 0 0.5 0.000807292 0 0 0.000807292 0 0.00140625 0 0 0 0 0 0 model://rover_ackermann/meshes/rover_ackermann_wheel.dae 0 0 0 0 0 0 0 0.005 0.0000018 0.0000018 0.0000018 0 0 0 0 0 0 0 0.005 0.0000018 0.0000018 0.0000018 0 base_link wheel_front_left_steering_link 0 0 0 0 0 0 0 0 1 -0.5236 0.5236 1 base_link wheel_front_right_steering_link 0 0 0 0 0 0 0 0 1 -0.5236 0.5236 1 wheel_front_left_steering_link wheel_front_left_link 0 1 0 wheel_front_right_steering_link wheel_front_right_link 0 1 0 wheel_rear_left_joint command/motor_speed velocity true 0 wheel_rear_right_joint command/motor_speed velocity true 0 wheel_front_right_joint command/motor_speed velocity true 0 wheel_front_left_joint command/motor_speed velocity true 0 wheel_front_steering_joint servo_0 100 10 0 wheel_front_left_steering_joint servo_0 1 1 0.5 wheel_front_right_steering_joint servo_0 1 1 0.5 wheel_rear_left_joint wheel_rear_right_joint wheel_front_joint wheel_front_steering_joint wheel_front_left_joint wheel_front_right_joint wheel_front_right_steering_joint wheel_front_left_steering_joint