true 100 ${prefix}base2steer_joint ${prefix}steer2sd_wheel_joint ${prefix}fixed_left_wheel_joint ${prefix}fixed_right_wheel_joint 1.05 1.1 0.0 1000 1000 mobile_base_controller/cmd_vel mobile_base_controller/odom world base_footprint 0.01 false true 0.01 true 50.0 ${prefix}base_footprint base_pose_ground_truth 0.01 map 0 0 0 0 0 0