0 0 0.1 0 0 0 5.0 -0.2 0 0 0 0 0 0.030208333 0.0 0.0 0.108333333 0.0 0.130208333 0 0 -0.05 0 0 0 model://rover_differential/meshes/rover_differential_base.dae 1 0.5 0.1 base_link 1 50 0 3 base_link 1 100 0.0001 0.0001 0.0001 base_link 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 base_link 1 30 -0.2 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_differential/meshes/rover_differential_wheel.dae 0.1 0.1 1.0 1.0 1 0 0 0.0 0.0 -0.2 -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_differential/meshes/rover_differential_wheel.dae 0.1 0.1 1.0 1.0 1 0 0 0.0 0.0 0.25 0 -0.025 -1.5707 0 0 1 0.016 0 0 0.016 0 0.016 0.075 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0.075 0 0 1 0 0 -0.3 0 -0.025 -1.5707 0 0 1 0.016 0 0 0.016 0 0.016 0.075 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0.075 0 0 1 0 0 base_link wheel_rear_left_link 0 1 0 base_link wheel_rear_right_link 0 1 0 base_link cast_wheel_front_link base_link cast_wheel_rear_link wheel_rear_left_joint command/motor_speed velocity true 1 wheel_rear_right_joint command/motor_speed velocity true 0 wheel_rear_left_joint wheel_rear_right_joint