wheel_left_joint wheel_right_joint .230 0.070 1.0 0.6 cliff_sensor_left cliff_sensor_front cliff_sensor_right 0.04 bumpers base_link base_footprint_geom_base_link bumpers true 50 true 50 50 1 1.0 -0.04361 0.04361 0.01 0.15 true true 50 50 1 1.0 -2.5 2.5 0.01 0.15 true true 50 50 1 1.0 -2.5 2.5 0.01 0.15 true true 50 gyro_link /mobile_base/sensors/imu_data 2.89e-06 0 0 0 0 0 0