false true 1000.0 ${left_wheel_joint} ${right_wheel_joint} ${wheel_separation} ${2*wheel_radius} 10 1 map mobile_base_controller/cmd_vel mobile_base_controller/odom base_footprint 2.8 true false world Debug 0.01 true 50.0 ${prefix}base_footprint base_pose_ground_truth 0.01 map 0 0 0 0 0 0