rear_left_wheel_joint rear_right_wheel_joint ${wheel_separation} ${wheel_radius} 30 cmd_vel odom tf odom base_link joint_states 10 scan lidar_link true true 360 1 -3.14159265 3.14159265 0.12 10.0 0.01 15 camera/image_raw camera_link true true 1.1 640 480 R8G8B8 0.05 50.0 50 imu imu_link true