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 | 1 | initial version |
amcl: {gui_publish_rate: 10.0, kld_err: 0.050000000000000003, kld_z: 0.98999999999999999,
laser_lambda_short: 0.10000000000000001, laser_likelihood_max_dist: 2.0, laser_max_beams: 30,
laser_model_type: likelihood_field, laser_sigma_hit: 0.20000000000000001, laser_z_hit: 0.5,
laser_z_max: 0.050000000000000003, laser_z_rand: 0.5, laser_z_short: 0.050000000000000003,
max_particles: 5000, min_particles: 500, odom_alpha1: 0.20000000000000001, odom_alpha2: 0.20000000000000001,
odom_alpha3: 0.80000000000000004, odom_alpha4: 0.20000000000000001, odom_alpha5: 0.10000000000000001,
odom_frame_id: odom, odom_model_type: diff, recovery_alpha_fast: 0.0, recovery_alpha_slow: 0.0,
resample_interval: 1, transform_tolerance: 0.10000000000000001, update_min_a: 0.5,
update_min_d: 0.20000000000000001, use_map_topic: true}
move_base:
TrajectoryPlannerROS: {acc_lim_th: 3.2000000000000002, acc_lim_x: 2.5, acc_lim_y: 2.5,
goal_distance_bias: 0.59999999999999998, holonomic_robot: true, max_rotational_vel: 0.59999999999999998,
max_vel_x: 0.80000000000000004, min_in_place_rotational_vel: 0.5, min_vel_x: 0.20000000000000001,
path_distance_bias: 0.59999999999999998, sim_time: 2.0}
aggressive_reset: {reset_distance: 1.8400000000000001}
base_global_planner: navfn/NavfnROS
conservative_reset: {reset_distance: 3.0}
conservative_reset_dist: 3.0
controller_frequency: 15.0
global_costmap:
footprint:
- [0.254, -0.050799999999999998]
- [0.17780000000000001, -0.050799999999999998]
- [0.17780000000000001, -0.17780000000000001]
- [-0.1905, -0.17780000000000001]
- [-0.254, 0]
- [-0.1905, 0.17780000000000001]
- [0.17780000000000001, 0.17780000000000001]
- [0.17780000000000001, 0.050799999999999998]
- [0.254, 0.050799999999999998]
global_frame: /map
inflation_radius: 0.10000000000000001
laser_scan_sensor: {clearing: true, data_type: LaserScan, marking: true, sensor_frame: laser,
topic: scan}
map_type: costmap
observation_sources: laser_scan_sensor
obstacle_range: 3.5
raytrace_range: 4.0
robot_base_frame: base_link
rolling_window: true
static_map: false
transform_tolerance: 0.20000000000000001
update_frequency: 5.0
local_costmap:
footprint:
- [0.254, -0.050799999999999998]
- [0.17780000000000001, -0.050799999999999998]
- [0.17780000000000001, -0.17780000000000001]
- [-0.1905, -0.17780000000000001]
- [-0.254, 0]
- [-0.1905, 0.17780000000000001]
- [0.17780000000000001, 0.17780000000000001]
- [0.17780000000000001, 0.050799999999999998]
- [0.254, 0.050799999999999998]
global_frame: /odom
height: 5.0
inflation_radius: 0.10000000000000001
laser_scan_sensor: {clearing: true, data_type: LaserScan, marking: true, sensor_frame: laser,
topic: scan}
map_type: costmap
observation_sources: laser_scan_sensor
obstacle_range: 3.5
publish_frequency: 2.0
raytrace_range: 4.0
resolution: 0.050000000000000003
robot_base_frame: base_link
rolling_window: true
static_map: false
transform_tolerance: 0.20000000000000001
update_frequency: 5.0
width: 5.0
robot_description: "<?xml version=\"1.0\" ?>\n<!-- ===================================================================================\
\ -->\n<!-- | This document was autogenerated by xacro from /opt/ros/diamondback/stacks/usc-ros-pkg/p2os/p2os_urdf/defs/pioneer3dx.xacro\
\ | -->\n<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED \
\ | -->\n<!-- ===================================================================================\
\ -->\n<robot name=\"pioneer3dx\" xmlns:controller=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#controller\"\
\ xmlns:interface=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#interface\"\
\ xmlns:sensor=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor\" xmlns:xacro=\"\
http://ros.org/wiki/xacro\">\n <!-- Chassis -->\n <link name=\"base_link\">\n\
\ <inertial>\n <mass value=\"3.5\"/>\n <!--<origin xyz=\"-0.025 0 -0.223\"\
/>-->\n <origin xyz=\"-0.05 0 0\"/>\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
0\" iyy=\"1\" iyz=\"0\" izz=\"1\"/>\n </inertial>\n <visual name=\"base_visual\"\
>\n <origin rpy=\"0 0 0\" xyz=\"-0.045 0 0.148\"/>\n <geometry name=\"\
pioneer_geom\">\n <mesh filename=\"package://p2os_urdf/meshes/p3dx_meshes/chassis.stl\"\
/>\n </geometry>\n <material name=\"ChassisRed\">\n <color rgba=\"\
0.851 0.0 0.0 1.0\"/>\n </material>\n </visual>\n <collision>\n \
\ <origin rpy=\"0 0 0\" xyz=\"-0.045 0 0.145\"/>\n <geometry>\n <box\
\ size=\"0.35 0.25 0.14\"/>\n </geometry>\n </collision>\n </link>\n <gazebo\
\ reference=\"base_link\">\n <material value=\"Gazebo/Red\"/>\n </gazebo>\n\
\ <!-- Top -->\n <link name=\"top_plate\">\n <inertial>\n <mass value=\"\
0.01\"/>\n <origin xyz=\"0 0 0\"/>\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
0\" iyy=\"1\" iyz=\"0\" izz=\"1\"/>\n </inertial>\n <visual name=\"base_visual\"\
>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry name=\"top_geom\"\
>\n <mesh filename=\"package://p2os_urdf/meshes/p3dx_meshes/top.stl\"/>\n\
\ </geometry>\n <material name=\"TopBlack\">\n <color rgba=\"0.038\
\ 0.038 0.038 1.0\"/>\n </material>\n </visual>\n <collision>\n \
\ <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>\n <geometry name=\"pioneer_geom\"\
>\n <box size=\"0.45 0.38 0.01\"/>\n </geometry>\n </collision>\n\
\ </link>\n <gazebo reference=\"top_plate\">\n <material value=\"Gazebo/Black\"\
/>\n </gazebo>\n <joint name=\"base_top_joint\" type=\"fixed\">\n <origin rpy=\"\
0 0 0\" xyz=\"-0.045 0 0.234\"/>\n <parent link=\"base_link\"/>\n <child link=\"\
top_plate\"/>\n </joint>\n <!-- Swivel -->\n <link name=\"swivel\">\n <inertial>\n\
\ <mass value=\"0.1\"/>\n <origin xyz=\"0 0 0\"/>\n <inertia ixx=\"\
0.01\" ixy=\"0\" ixz=\"0\" iyy=\"0.01\" iyz=\"0\" izz=\"0.01\"/>\n </inertial>\n\
\ <visual name=\"base_visual\">\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n\
\ <geometry name=\"pioneer_geom\">\n <mesh filename=\"package://p2os_urdf/meshes/p3dx_meshes/swivel.stl\"\
/>\n </geometry>\n <material name=\"swivel\">\n <color rgba=\"\
0.5 0.5 0.5 1\"/>\n </material>\n </visual>\n <collision>\n <origin\
\ rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <box size=\"0 0 0\"/>\n\
\ </geometry>\n </collision>\n </link>\n <gazebo reference=\"swivel\"\
>\n <material value=\"Gazebo/Grey\"/>\n </gazebo>\n <joint name=\"base_swivel_joint\"\
\ type=\"continuous\">\n <origin rpy=\"0 0 0\" xyz=\"-0.185 0 0.055\"/>\n \
\ <axis xyz=\"0 0 1\"/>\n <anchor xyz=\"0 0 0\"/>\n <limit effort=\"100\"\
\ k_velocity=\"0\" velocity=\"100\"/>\n <joint_properties damping=\"0.0\" friction=\"\
0.0\"/>\n <parent link=\"base_link\"/>\n <child link=\"swivel\"/>\n </joint>\n\
\ <!-- Center Wheel + Hubcap -->\n <link name=\"center_hubcap\">\n <inertial>\n\
\ <mass value=\"0.01\"/>\n <origin xyz=\"0 0 0\"/>\n <inertia ixx=\"\
0.012411765597\" ixy=\"-0.000711733678\" ixz=\"0.00050272983\" iyy=\"0.015218160428\"\
\ iyz=\"-0.000004273467\" izz=\"0.011763977943\"/>\n </inertial>\n <visual\
\ name=\"base_visual\">\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry\
\ name=\"pioneer_geom\">\n <mesh filename=\"package://p2os_urdf/meshes/p3dx_meshes/center_hubcap.stl\"\
/>\n </geometry>\n <material name=\"swivel\">\n <color rgba=\"\
0.5 0.5 0.5 1\"/>\n </material>\n </visual>\n <collision>\n <origin\
\ rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <box size=\"0 0 0\"/>\n\
\ </geometry>\n </collision>\n </link>\n <gazebo reference=\"center_hubcap\"\
>\n <material value=\"Gazebo/Grey\"/>\n </gazebo>\n <joint name=\"swivel_hubcap_joint\"\
\ type=\"continuous\">\n <origin rpy=\"0 0 0\" xyz=\"-0.026 0 -0.016\"/>\n \
\ <axis xyz=\"0 1 0\"/>\n <anchor xyz=\"0 0 0\"/>\n <limit effort=\"100\"\
\ k_velocity=\"0\" velocity=\"100\"/>\n <joint_properties damping=\"0.0\" friction=\"\
0.0\"/>\n <parent link=\"swivel\"/>\n <child link=\"center_wheel\"/>\n </joint>\n\
\ <link name=\"center_wheel\">\n <inertial>\n <mass value=\"0.1\"/>\n \
\ <origin xyz=\"0 0 0\"/>\n <inertia ixx=\"0.012411765597\" ixy=\"-0.000711733678\"\
\ ixz=\"0.00050272983\" iyy=\"0.015218160428\" iyz=\"-0.000004273467\" izz=\"0.011763977943\"\
/>\n </inertial>\n <visual name=\"base_visual\">\n <origin rpy=\"0 0\
\ 0\" xyz=\"0 0 0\"/>\n <geometry name=\"pioneer_geom\">\n <mesh filename=\"\
package://p2os_urdf/meshes/p3dx_meshes/center_wheel.stl\"/>\n </geometry>\n\
\ <material name=\"WheelBlack\">\n <color rgba=\"0.117 0.117 0.117 1\"\
/>\n </material>\n </visual>\n <collision>\n <origin rpy=\"-1.57079635\
\ 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <!--<mesh filename=\"package://p2os_urdf/meshes/p3dx_meshes/center_wheel.stl\"\
/>-->\n <cylinder length=\"0.01\" radius=\"0.0375\"/>\n </geometry>\n\
\ </collision>\n </link>\n <joint name=\"center_wheel_joint\" type=\"fixed\"\
>\n <origin rpy=\"0 0 0\" xyz=\"-0.0035 0 -0.001\"/>\n <parent link=\"center_wheel\"\
/>\n <child link=\"center_hubcap\"/>\n </joint>\n <gazebo reference=\"center_wheel\"\
>\n <material value=\"Gazebo/Black\"/>\n <elem key=\"mu1\" value=\"10.0\"\
/>\n <elem key=\"mu2\" value=\"10.0\"/>\n <elem key=\"kp\" value=\"1000000.0\"\
/>\n <elem key=\"kd\" value=\"1.0\"/>\n </gazebo>\n <link name=\"p3dx_left_wheel\"\
>\n <inertial>\n <mass value=\"0.5\"/>\n <origin xyz=\"0 0 0\"/>\n\
\ <inertia ixx=\"0.012411765597\" ixy=\"0\" ixz=\"0\" iyy=\"0.015218160428\"\
\ iyz=\"0\" izz=\"0.011763977943\"/>\n </inertial>\n <visual name=\"base_visual\"\
>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry name=\"pioneer_geom\"\
>\n <mesh filename=\"package://p2os_urdf/meshes/p3dx_meshes/left_wheel.stl\"\
/>\n </geometry>\n <material name=\"WheelBlack\">\n <color rgba=\"\
0.117 0.117 0.117 1\"/>\n </material>\n </visual>\n <collision>\n \
\ <origin rpy=\"-1.57079635 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <!--<mesh\
\ filename=\"package://p2os_urdf/meshes/p3dx_meshes/${suffix}_wheel.stl\"/>-->\n\
\ <cylinder length=\"0.01\" radius=\"0.09\"/>\n </geometry>\n </collision>\n\
\ </link>\n <joint name=\"base_left_hubcap_joint\" type=\"fixed\">\n <!--<origin\
\ xyz=\"0 ${reflect*0.158} 0.091\" rpy=\"0 0 0\"/>-->\n <origin rpy=\"0 0 0\"\
\ xyz=\"0 0 0\"/>\n <parent link=\"p3dx_left_wheel\"/>\n <child link=\"p3dx_left_hubcap\"\
/>\n </joint>\n <link name=\"p3dx_left_hubcap\">\n <inertial>\n <mass\
\ value=\"0.01\"/>\n <origin xyz=\"0 0 0\"/>\n <inertia ixx=\"0.012411765597\"\
\ ixy=\"0\" ixz=\"0\" iyy=\"0.015218160428\" iyz=\"0\" izz=\"0.011763977943\"/>\n\
\ </inertial>\n <visual name=\"base_visual\">\n <origin rpy=\"0 0 0\"\
\ xyz=\"0 0 0\"/>\n <geometry name=\"pioneer_geom\">\n <mesh filename=\"\
package://p2os_urdf/meshes/p3dx_meshes/left_hubcap.stl\"/>\n </geometry>\n\
\ <material name=\"HubcapYellow\">\n <color rgba=\"1.0 0.811 0.151 1.0\"\
/>\n </material>\n </visual>\n <collision>\n <origin rpy=\"0 0 0\"\
\ xyz=\"0 0 0\"/>\n <geometry>\n <box size=\"0 0 0\"/>\n </geometry>\n\
\ </collision>\n </link>\n <transmission name=\"base_link_left_wheel_trans\"\
\ type=\"pr2_mechanism_model/SimpleTransmission\">\n <actuator name=\"base_left_wheel_motor\"\
/>\n <joint name=\"base_left_wheel_joint\"/>\n <mechanicalReduction>75.0676691729</mechanicalReduction>\n\
\ </transmission>\n <joint name=\"base_left_wheel_joint\" type=\"continuous\"\
>\n <axis xyz=\"0 1 0\"/>\n <anchor xyz=\"0 0 0\"/>\n <limit effort=\"\
100\" velocity=\"100\"/>\n <joint_properties damping=\"0.0\" friction=\"0.0\"\
/>\n <origin rpy=\"0 0 0\" xyz=\"0 0.158 0.091\"/>\n <parent link=\"base_link\"\
/>\n <child link=\"p3dx_left_wheel\"/>\n </joint>\n <gazebo reference=\"p3dx_left_hubcap\"\
>\n <material value=\"Gazebo/Yellow\"/>\n </gazebo>\n <gazebo reference=\"\
p3dx_left_wheel\">\n <material value=\"Gazebo/Black\"/>\n <elem key=\"mu1\"\
\ value=\"0.5\"/>\n <elem key=\"mu2\" value=\"50.0\"/>\n <elem key=\"kp\"\
\ value=\"100000000.0\"/>\n <elem key=\"kd\" value=\"1.0\"/>\n </gazebo>\n \
\ <link name=\"p3dx_right_wheel\">\n <inertial>\n <mass value=\"0.5\"/>\n\
\ <origin xyz=\"0 0 0\"/>\n <inertia ixx=\"0.012411765597\" ixy=\"0\"\
\ ixz=\"0\" iyy=\"0.015218160428\" iyz=\"0\" izz=\"0.011763977943\"/>\n </inertial>\n\
\ <visual name=\"base_visual\">\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n\
\ <geometry name=\"pioneer_geom\">\n <mesh filename=\"package://p2os_urdf/meshes/p3dx_meshes/right_wheel.stl\"\
/>\n </geometry>\n <material name=\"WheelBlack\">\n <color rgba=\"\
0.117 0.117 0.117 1\"/>\n </material>\n </visual>\n <collision>\n \
\ <origin rpy=\"-1.57079635 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <!--<mesh\
\ filename=\"package://p2os_urdf/meshes/p3dx_meshes/${suffix}_wheel.stl\"/>-->\n\
\ <cylinder length=\"0.01\" radius=\"0.09\"/>\n </geometry>\n </collision>\n\
\ </link>\n <joint name=\"base_right_hubcap_joint\" type=\"fixed\">\n <!--<origin\
\ xyz=\"0 ${reflect*0.158} 0.091\" rpy=\"0 0 0\"/>-->\n <origin rpy=\"0 0 0\"\
\ xyz=\"0 0 0\"/>\n <parent link=\"p3dx_right_wheel\"/>\n <child link=\"p3dx_right_hubcap\"\
/>\n </joint>\n <link name=\"p3dx_right_hubcap\">\n <inertial>\n <mass\
\ value=\"0.01\"/>\n <origin xyz=\"0 0 0\"/>\n <inertia ixx=\"0.012411765597\"\
\ ixy=\"0\" ixz=\"0\" iyy=\"0.015218160428\" iyz=\"0\" izz=\"0.011763977943\"/>\n\
\ </inertial>\n <visual name=\"base_visual\">\n <origin rpy=\"0 0 0\"\
\ xyz=\"0 0 0\"/>\n <geometry name=\"pioneer_geom\">\n <mesh filename=\"\
package://p2os_urdf/meshes/p3dx_meshes/right_hubcap.stl\"/>\n </geometry>\n\
\ <material name=\"HubcapYellow\">\n <color rgba=\"1.0 0.811 0.151 1.0\"\
/>\n </material>\n </visual>\n <collision>\n <origin rpy=\"0 0 0\"\
\ xyz=\"0 0 0\"/>\n <geometry>\n <box size=\"0 0 0\"/>\n </geometry>\n\
\ </collision>\n </link>\n <transmission name=\"base_link_right_wheel_trans\"\
\ type=\"pr2_mechanism_model/SimpleTransmission\">\n <actuator name=\"base_right_wheel_motor\"\
/>\n <joint name=\"base_right_wheel_joint\"/>\n <mechanicalReduction>-75.0676691729</mechanicalReduction>\n\
\ </transmission>\n <joint name=\"base_right_wheel_joint\" type=\"continuous\"\
>\n <axis xyz=\"0 1 0\"/>\n <anchor xyz=\"0 0 0\"/>\n <limit effort=\"\
100\" velocity=\"100\"/>\n <joint_properties damping=\"0.0\" friction=\"0.0\"\
/>\n <origin rpy=\"0 0 0\" xyz=\"0 -0.158 0.091\"/>\n <parent link=\"base_link\"\
/>\n <child link=\"p3dx_right_wheel\"/>\n </joint>\n <gazebo reference=\"p3dx_right_hubcap\"\
>\n <material value=\"Gazebo/Yellow\"/>\n </gazebo>\n <gazebo reference=\"\
p3dx_right_wheel\">\n <material value=\"Gazebo/Black\"/>\n <elem key=\"mu1\"\
\ value=\"0.5\"/>\n <elem key=\"mu2\" value=\"50.0\"/>\n <elem key=\"kp\"\
\ value=\"100000000.0\"/>\n <elem key=\"kd\" value=\"1.0\"/>\n </gazebo>\n \
\ <!-- Front + Back Sonar -->\n <link name=\"front_sonar\">\n <inertial>\n \
\ <mass value=\"0.0001\"/>\n <origin xyz=\"0 0 0\"/>\n <inertia ixx=\"\
1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\"/>\n </inertial>\n <visual\
\ name=\"base_visual\">\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry\
\ name=\"pioneer_geom\">\n <mesh filename=\"package://p2os_urdf/meshes/p3dx_meshes/front_sonar.stl\"\
/>\n </geometry>\n <material name=\"SonarYellow\">\n <color rgba=\"\
0.715 0.583 0.210 1.0\"/>\n </material>\n </visual>\n <collision>\n \
\ <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <box size=\"\
0 0 0\"/>\n </geometry>\n </collision>\n </link>\n <gazebo reference=\"\
front_sonar\">\n <material value=\"Gazebo/Yellow\"/>\n </gazebo>\n <joint name=\"\
base_front_joint\" type=\"fixed\">\n <origin rpy=\"0 0 0\" xyz=\"-0.198 0 0.208\"\
/>\n <parent link=\"base_link\"/>\n <child link=\"front_sonar\"/>\n </joint>\n\
\ <link name=\"back_sonar\">\n <inertial>\n <mass value=\"0.0001\"/>\n\
\ <origin xyz=\"0 0 0\"/>\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"\
1\" iyz=\"0\" izz=\"1\"/>\n </inertial>\n <visual name=\"back_sonar_vis\"\
>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry name=\"pioneer_geom\"\
>\n <mesh filename=\"package://p2os_urdf/meshes/p3dx_meshes/back_sonar.stl\"\
/>\n </geometry>\n <material name=\"SonarYellow\">\n <color rgba=\"\
0.715 0.583 0.210 1.0\"/>\n </material>\n </visual>\n <collision>\n \
\ <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <box size=\"\
0 0 0\"/>\n </geometry>\n </collision>\n </link>\n <gazebo reference=\"\
back_sonar\">\n <material value=\"Gazebo/Yellow\"/>\n </gazebo>\n <joint name=\
"\
base_back_joint\" type=\"fixed\">\n <origin rpy=\"0 0 0\" xyz=\"0.109 0 0.209\"\
/>\n <parent link=\"base_link\"/>\n <child link=\"back_sonar\"/>\n </joint>\n\
\ <gazebo>\n <controller:differential_position2d name=\"controller1\">\n \
\ <update>100</update>\n <leftJoint>base_right_wheel_joint</leftJoint>\n\
\ <rightJoint>base_left_wheel_joint</rightJoint>\n <wheelSeparation>0.39</wheelSeparation>\n\
\ <wheelDiameter>0.15</wheelDiameter>\n <torque>5</torque>\n <interface:position\
\ name=\"position_iface_0\"/>\n </controller:differential_position2d>\n <controller:gazebo_ros_p3d\
\ name=\"p3d_base_controller\" plugin=\"libgazebo_ros_p3d.so\">\n <alwaysOn>true</alwaysOn>\n\
\ <updateRate>100.0</updateRate>\n <bodyName>base_link</bodyName>\n \
\ <topicName>base_pose_ground_truth</topicName>\n <gaussianNoise>0.01</gaussianNoise>\n\
\ <frameName>map</frameName>\n <xyzOffsets>0 0 0</xyzOffsets>\n <!--\
\ initialize odometry for fake localization-->\n <rpyOffsets>0 0 0</rpyOffsets>\n\
\ <interface:position name=\"p3d_base_position\"/>\n </controller:gazebo_ros_p3d>\n\
\ <!-- this publishes empty joint_states due to no transmission, but\n \
\ triggering robot_state_puublisher to publish tf between fixed joints in erratic,\n\
\ (e.g. base_laser_link for the base_scan frame) -->\n <controller:gazebo_ros_controller_manager\
\ name=\"gazebo_ros_controller_manager\" plugin=\"libgazebo_ros_controller_manager.so\"\
>\n <alwaysOn>true</alwaysOn>\n <updateRate>1000.0</updateRate>\n \
\ <interface:audio name=\"gazebo_ros_controller_manager_dummy_iface\"/>\n </controller:gazebo_ros_controller_manager>\n\
\ </gazebo>\n</robot>\n\n"
robot_state_publisher: {publish_frequency: 15.0, tf_prefix: ''}
rosdistro: diamondback
roslaunch:
uris: {host_flyingdutchman__51352: 'http://FlyingDutchman:51352/'}
rosversion: 1.4.7
run_id: 5fa64bcc-b789-11e0-bd7c-00012e270b37
sicklms_node: {baud: 500000, port: /dev/ttyUSB0, resolution: 1}
slam_gmapping: {map_update_interval: 1.5}
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