0 0 0.0525 0 0 0 10 0 -0.02 -0.03 0 0 0 .165 .156 .075 0 0.015 0.053 0 0 0 model://qt_pi_chassis/meshes/chassis.dae 0 -0.065 -0.045 0 0 0 .0075 0.0 0.01 0 0.001 0 0 1.0 1.0 0 -0.065 -0.04 0 3.141592653589793 0 model://qt_pi_wheel/meshes/ball_castor.dae 0.5 0.5 0.5 0.106 0.03 0.0227 0 0 -1.5707963267948966 10 10 10 0.0 0.01 0 0.001 .0227 0 -0.008 0 0 0 0 model://qt_pi_wheel/meshes/wheel.dae 0.056 0.056 0.056 -0.106 0.03 0.0227 0 0 -1.5707963267948966 10 10 10 0.0 0.01 0 0.001 0.0227 0 0 0 0 0 0 model://qt_pi_wheel/meshes/wheel.dae 0.056 0.056 0.056 0 0 0 0 0 0 left_wheel chassis 0 1 0 0 0 0 0 0 0 right_wheel chassis 0 1 0 model://hokuyo 0 0 0.102 0 0 -1.5707963267948966 hokuyo::link chassis true 30 left_wheel_hinge qt_pi right_wheel_hinge 0.4 0.2 0 5 cmd_vel odom base_link odom 1 true 1 false 0