transmission_interface/SimpleTransmission VelocityJointInterface 1 / gazebo_ros_control/DefaultRobotHWSim true 20.0 base_imu_link imu 0.05 base_imu_link 0 0 0 0 0 0 /default_imu 0 0 0 0 0 0 ${update_rate} false 5 1 -${fov/2} ${fov/2} 5 1 -${fov/2} ${fov/2} ${minRange} ${maxRange} 0.01 0.005 true ${update_rate} ${ros_topic} ${name} ${fov} ${radiation}