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<launch>
<!--
NOTE: You'll need to bring up something that publishes sensor data (see
rosstage), something that publishes a map (see map_server), and something to
visualize a costmap (see nav_view), to see things work.
Also, on a real robot, you'd want to set the "use_sim_time" parameter to false, or just not set it.
-->
<param name="/use_sim_time" value="true"/>
<!-- Publishes the voxel grid to rviz for display -->
<!-- <node pkg="costmap_2d" type="costmap_2d_markers" name="voxel_visualizer">
<remap from="voxel_grid" to="costmap/voxel_grid"/>
</node> -->
<!-- Run the costmap node -->
<node name="costmap_node" pkg="costmap_2d" type="costmap_2d_node" output="screen">
<rosparam file="$(find costmap_2d)/launch/example_params.yaml" command="load" ns="costmap" />
<!-- <rosparam file="$(find costmap_2d)/launch/common_params.yaml" command="load" ns="local" />
<rosparam file="$(find costmap_2d)/launch/local_params.yaml" command="load" ns="local"/> -->
</node>
</launch>
global_frame: map
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 5.0
always_send_full_costmap: true
#set if you want the voxel map published
publish_voxel_map: false
#set to true if you want to initialize the costmap from a static map
static_map: false
rolling_window: true
width: 100.0
height: 100.0
resolution: 0.5
origin_x: -50
origin_y: -50
map_type: costmap
transform_tolerance: 0.5
obstacle_range: 100
max_obstacle_height: 20.0
raytrace_range: 100.0
footprint: [[-0.5, -0.5], [-0.5, 0.5], [0.5, 0.5], [0.5, -0.5]]
# robot_radius: 1
footprint_padding: 0.1
inflation_radius: 0.5
cost_scaling_factor: 10.0
lethal_cost_threshold: 100
observation_sources: left_laser right_laser
left_laser: {sensor_frame: front_left_laser_link, topic: /prius/front_left_laser/scan, data_type: LaserScan, expected_update_rate: 5,
observation_persistence: 10.0, marking: true, clearing: true, obstacle_range: 100, raytrace_range: 100, max_obstacle_height: 20, min_obstacle_height: 0}
right_laser: {sensor_frame: front_right_laser_link, topic: /prius/front_right_laser/scan, data_type: LaserScan, expected_update_rate: 5,
observation_persistence: 10.0, marking: true, clearing: true, obstacle_range: 100, raytrace_range: 100, max_obstacle_height: 20, min_obstacle_height: 0}
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="prius">
<!--- Surface properties must come first? -->
<gazebo reference="front_left_wheel">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<minDepth>0.005</minDepth>
<kp>1e8</kp>
</gazebo>
<gazebo reference="front_right_wheel">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<minDepth>0.005</minDepth>
<kp>1e8</kp>
</gazebo>
<gazebo reference="rear_left_wheel">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<minDepth>0.005</minDepth>
<kp>1e8</kp>
</gazebo>
<gazebo reference="rear_right_wheel">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<minDepth>0.005</minDepth>
<kp>1e8</kp>
</gazebo>
<link name="base_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="base_link_connection" type="fixed">
<parent link="base_link"/>
<child link="chassis"/>
<origin xyz="1.45 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="chassis">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://prius_description/meshes/hybrid_body.obj" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
<collision name="chassis">
<origin xyz="0.0 0.05 0.625" rpy="0 0 0"/>
<geometry>
<box size="1.7526 2.1 0.95"/>
</geometry>
</collision>
<collision name="front_bumper">
<origin xyz="0.0 -2.0 0.458488" rpy="0.0 0 0"/>
<geometry>
<box size="1.337282 0.48 0.566691"/>
</geometry>
</collision>
<collision name="hood">
<origin xyz="0.0 -1.900842 0.676305" rpy="0.341247 0 0"/>
<geometry>
<box size="1.597968 0.493107 0.265468"/>
</geometry>
</collision>
<collision name="windshield">
<origin xyz="0.0 -0.875105 1.032268" rpy="0.335476 0 0"/>
<geometry>
<box size="1.168381 1.654253 0.272347"/>
</geometry>
</collision>
<collision name="top_front">
<origin xyz="0.0 0.161236 1.386042" rpy="0.135030 0 0"/>
<geometry>
<box size="1.279154 0.625988 0.171868"/>
</geometry>
</collision>
<collision name="top_rear">
<origin xyz="0.0 0.817696 1.360069" rpy="-0.068997 0 0"/>
<geometry>
<box size="1.285130 0.771189 0.226557"/>
</geometry>
</collision>
<collision name="rear_window">
<origin xyz="0.0 1.640531 1.175126" rpy="-0.262017 0 0"/>
<geometry>
<box size="1.267845 1.116344 0.244286"/>
</geometry>
</collision>
<collision name="trunk">
<origin xyz="0.0 1.637059 0.888180" rpy="0.0 0 0"/>
<geometry>
<box size="1.788064 1.138988 0.482746"/>
</geometry>
</collision>
<collision name="back_bumper">
<origin xyz="0.0 2.054454 0.577870" rpy="0.0 0 0"/>
<geometry>
<box size="1.781650 0.512093 0.581427"/>
</geometry>
</collision>
<inertial>
<mass value="1356.0"/>
<origin xyz="0 0 0.48" rpy="0 0 1.5708"/>
<inertia ixx="2581.13354740" ixy="0.0" ixz="0.0" iyy="591.30846112" iyz="0.0" izz="2681.95008628"/>
</inertial>
</link>
<link name="fl_axle">
<inertial>
<mass value="1"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.004" ixy="0.0" ixz="0.0" iyy="0.004" iyz="0.0" izz="0.004"/>
</inertial>
</link>
<link name="fr_axle">
<inertial>
<mass value="1"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.004" ixy="0.0" ixz="0.0" iyy="0.004" iyz="0.0" izz="0.004"/>
</inertial>
</link>
<link name="front_left_wheel">
<inertial>
<mass value="11"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.58631238" ixy="0.0" ixz="0.0" iyy="0.33552910" iyz="0.0" izz="0.33552910"/>
</inertial>
<collision name="front_left_wheel_collision">
<geometry>
<sphere radius="0.31265"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://prius_description/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
</link>
<link name="front_right_wheel">
<inertial>
<mass value="11"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.58631238" ixy="0.0" ixz="0.0" iyy="0.33552910" iyz="0.0" izz="0.33552910"/>
</inertial>
<collision name="front_right_wheel_collision">
<geometry>
<sphere radius="0.31265"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://prius_description/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
</link>
<link name="rear_left_wheel">
<inertial>
<mass value="11"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.58631238" ixy="0.0" ixz="0.0" iyy="0.33552910" iyz="0.0" izz="0.33552910"/>
</inertial>
<collision name="rear_left_wheel_collision">
<geometry>
<sphere radius="0.31265"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://prius_description/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
</link>
<link name="rear_right_wheel">
<inertial>
<mass value="11"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.58631238" ixy="0.0" ixz="0.0" iyy="0.33552910" iyz="0.0" izz="0.33552910"/>
</inertial>
<collision name="rear_right_wheel_collision">
<geometry>
<sphere radius="0.31265"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://prius_description/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
</link>
<link name="steering_wheel">
<inertial>
<mass value="1.0"/>
<inertia ixx="0.14583300" ixy="0.0" ixz="0.0" iyy="0.14583300" iyz="0.0" izz="0.125"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="1.302101 0 0"/>
<geometry>
<mesh filename="package://prius_description/meshes/steering_wheel.obj" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
</link>
<joint name="steering_joint" type="continuous">
<origin xyz="0.357734 -0.627868 0.988243" rpy="-1.302101 0 0"/>
<parent link="chassis"/>
<child link="steering_wheel"/>
<axis xyz="0 0 1"/>
<limit lower="-7.85" upper="7.85" effort="10000000" velocity="1000000"/>
</joint>
<joint name="front_left_steer_joint" type="continuous">
<parent link="chassis"/>
<child link="fl_axle"/>
<origin xyz="0.767 -1.41 0.3" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="-0.8727" upper="0.8727" effort="10000000" velocity="1000000"/>
</joint>
<joint name="front_right_steer_joint" type="continuous">
<parent link="chassis"/>
<child link="fr_axle"/>
<origin xyz="-0.767 -1.41 0.3" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="-0.8727" upper="0.8727" effort="10000000" velocity="1000000"/>
</joint>
<joint name="front_left_wheel_joint" type="continuous">
<parent link="fl_axle"/>
<child link="front_left_wheel"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="front_right_wheel_joint" type="continuous">
<parent link="fr_axle"/>
<child link="front_right_wheel"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="rear_left_wheel_joint" type="continuous">
<parent link="chassis"/>
<child link="rear_left_wheel"/>
<origin xyz="0.793 1.45 0.3" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="rear_right_wheel_joint" type="continuous">
<parent link="chassis"/>
<child link="rear_right_wheel"/>
<origin xyz="-0.793 1.45 0.3" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<!-- Sensor links and fixed joints -->
<link name="center_laser_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="center_laser_joint" type="fixed">
<parent link="chassis"/>
<child link="center_laser_link"/>
<origin xyz="0 0.4 1.8" rpy="0 0 -1.5707"/>
</joint>
<link name="front_left_laser_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="front_left_laser_joint" type="fixed">
<parent link="chassis"/>
<child link="front_left_laser_link"/>
<origin xyz="1 -2.3 0.5" rpy="0 0.00 0"/>
</joint>
<link name="front_right_laser_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="front_right_laser_joint" type="fixed">
<parent link="chassis"/>
<child link="front_right_laser_link"/>
<origin xyz="-1 -2.3 0.5" rpy="0 0.00 3.14"/>
</joint>
<gazebo reference="base_link_connection">
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
<link name="front_camera_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="front_camera_joint" type="fixed">
<parent link="chassis"/>
<child link="front_camera_link"/>
<origin xyz="0 -0.4 1.4" rpy="0 0.05 -1.5707"/>
</joint>
<link name="back_camera_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="back_camera_joint" type="fixed">
<parent link="chassis"/>
<child link="back_camera_link"/>
<origin xyz="0 1.45 1.4" rpy="0 0.05 1.5707"/>
</joint>
<link name="left_camera_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="left_camera_joint" type="fixed">
<parent link="chassis"/>
<child link="left_camera_link"/>
<origin xyz="1 -0.7 1.0" rpy="0 0.05 1.0"/>
</joint>
<link name="right_camera_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="right_camera_joint" type="fixed">
<parent link="chassis"/>
<child link="right_camera_link"/>
<origin xyz="-1 -0.7 1.0" rpy="0 0.05 2.1416"/>
</joint>
<link name="back_left_far_sonar_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="back_left_far_sonar_joint" type="fixed">
<parent link="chassis"/>
<child link="back_left_far_sonar_link"/>
<origin xyz="0.7 2.4 0.5" rpy="0 0 1.5707"/>
</joint>
<link name="back_left_middle_sonar_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="back_left_middle_sonar_joint" type="fixed">
<parent link="chassis"/>
<child link="back_left_middle_sonar_link"/>
<origin xyz="0.24 2.4 0.5" rpy="0 0 1.5707"/>
</joint>
<link name="back_right_far_sonar_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="back_right_far_sonar_joint" type="fixed">
<parent link="chassis"/>
<child link="back_right_far_sonar_link"/>
<origin xyz="-0.7 2.4 0.5" rpy="0 0 1.5707"/>
</joint>
<link name="back_right_middle_sonar_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="back_right_middle_sonar_joint" type="fixed">
<parent link="chassis"/>
<child link="back_right_middle_sonar_link"/>
<origin xyz="-0.24 2.4 0.5" rpy="0 0 1.5707"/>
</joint>
<link name="front_left_far_sonar_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="front_left_far_sonar_joint" type="fixed">
<parent link="chassis"/>
<child link="front_left_far_sonar_link"/>
<origin xyz="0.7 -2.1 0.5" rpy="0 0 -1.5707"/>
</joint>
<link name="front_left_middle_sonar_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="front_left_middle_sonar_joint" type="fixed">
<parent link="chassis"/>
<child link="front_left_middle_sonar_link"/>
<origin xyz="0.24 -2.3 0.5" rpy="0 0 -1.5707"/>
</joint>
<link name="front_right_far_sonar_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="front_right_far_sonar_joint" type="fixed">
<parent link="chassis"/>
<child link="front_right_far_sonar_link"/>
<origin xyz="-0.7 -2.1 0.5" rpy="0 0 -1.5707"/>
</joint>
<link name="front_right_middle_sonar_link">
<inertial>
<mass value="1"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="front_right_middle_sonar_joint" type="fixed">
<parent link="chassis"/>
<child link="front_right_middle_sonar_link"/>
<origin xyz="-0.24 -2.3 0.5" rpy="0 0 -1.5707"/>
</joint>
<gazebo>
<plugin name="pruis_hybrid_drive" filename="libPriusHybridPlugin.so">
<chassis>chassis</chassis>
<front_left_wheel>front_left_wheel_joint</front_left_wheel>
<front_right_wheel>front_right_wheel_joint</front_right_wheel>
<front_left_wheel_steering>front_left_steer_joint</front_left_wheel_steering>
<front_right_wheel_steering>front_right_steer_joint</front_right_wheel_steering>
<back_left_wheel>rear_left_wheel_joint</back_left_wheel>
<back_right_wheel>rear_right_wheel_joint</back_right_wheel>
<steering_wheel>steering_joint</steering_wheel>
<chassis_aero_force_gain>0.63045</chassis_aero_force_gain>
<front_torque>859.4004393000001</front_torque>
<back_torque>0</back_torque>
<front_brake_torque>1031.28052716</front_brake_torque>
<back_brake_torque>687.5203514400001</back_brake_torque>
<max_speed>37.998337013956565</max_speed>
<min_gas_flow>8.981854013171626e-05</min_gas_flow>
<gas_efficiency>0.371</gas_efficiency>
<battery_charge_watt_hours>291</battery_charge_watt_hours>
<battery_discharge_watt_hours>214</battery_discharge_watt_hours>
<max_steer>0.6458</max_steer>
<flwheel_steering_p_gain>1e4</flwheel_steering_p_gain>
<frwheel_steering_p_gain>1e4</frwheel_steering_p_gain>
<flwheel_steering_i_gain>0</flwheel_steering_i_gain>
<frwheel_steering_i_gain>0</frwheel_steering_i_gain>
<flwheel_steering_d_gain>3e2</flwheel_steering_d_gain>
<frwheel_steering_d_gain>3e2</frwheel_steering_d_gain>
</plugin>
</gazebo>
<gazebo>
<plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
<!-- <robotNamespace>/prius</robotNamespace> -->
<jointName>rear_right_wheel_joint, rear_left_wheel_joint, front_right_wheel_joint, front_left_wheel_joint, front_right_steer_joint, front_left_steer_joint, steering_joint</jointName>
<updateRate>100.0</updateRate>
<alwaysOn>true</alwaysOn>
</plugin>
</gazebo>
<gazebo>
<plugin name="p3d" filename="libgazebo_ros_p3d.so">
<!-- <robotNamespace>/prius</robotNamespace> -->
<bodyName>base_link</bodyName>
<topicName>base_pose_ground_truth</topicName>
<frameName>map</frameName>
<updateRate>100.0</updateRate>
</plugin>
</gazebo>
<gazebo reference="center_laser_link">
<sensor name='center_laser_sensor' type='ray'>
<ray>
<scan>
<horizontal>
<samples>512</samples>
<resolution>1</resolution>
<min_angle>-3.14</min_angle>
<max_angle>3.14</max_angle>
</horizontal>
<vertical>
<samples>16</samples>
<min_angle>-0.1</min_angle>
<max_angle>-0.35</max_angle>
</vertical>
</scan>
<range>
<min>0.2</min>
<max>30</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name='center_laser' filename='libgazebo_ros_block_laser.so'>
<topicName>/prius/center_laser/scan</topicName>
<frameName>center_laser_link</frameName>
</plugin>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="front_left_laser_link">
<sensor name='front_left_laser_sensor' type='ray'>
<ray>
<scan>
<horizontal>
<samples>640</samples>
<resolution>1</resolution>
<min_angle>-2.26889</min_angle>
<max_angle>1.56</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.2</min>
<max>30</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name='front_left_laser' filename='libgazebo_ros_laser.so'>
<topicName>/prius/front_left_laser/scan</topicName>
<frameName>front_left_laser_link</frameName>
</plugin>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="front_right_laser_link">
<sensor name='front_right_laser_sensor' type='ray'>
<ray>
<scan>
<horizontal>
<samples>640</samples>
<resolution>1</resolution>
<min_angle>-1.55</min_angle>
<max_angle>2.26889</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.2</min>
<max>30</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name='front_right_laser' filename='libgazebo_ros_laser.so'>
<topicName>/prius/front_right_laser/scan</topicName>
<frameName>front_right_laser_link</frameName>
</plugin>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="front_camera_link">
<sensor type="camera" name="front_camera_sensor">
<update_rate>30.0</update_rate>
<camera name="front_camera">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="front_camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>false</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>/prius/front_camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>/prius/front_camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<gazebo reference="back_camera_link">
<sensor type="camera" name="back_camera_sensor">
<update_rate>30.0</update_rate>
<camera name="back_camera">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="back_camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>false</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>/prius/back_camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>/prius/back_camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<gazebo reference="left_camera_link">
<sensor type="camera" name="left_camera_sensor">
<update_rate>30.0</update_rate>
<camera name="left_camera">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="left_camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>false</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>/prius/left_camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>/prius/left_camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<gazebo reference="right_camera_link">
<sensor type="camera" name="right_camera_sensor">
<update_rate>30.0</update_rate>
<camera name="right_camera">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="right_camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>false</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>/prius/right_camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>/prius/right_camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<gazebo reference="back_left_far_sonar_link">
<sensor name='back_left_far_sonar_sensor' type='ray'>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.2</min>
<max>5</max>
<resolution>0.1</resolution>
</range>
</ray>
<plugin name='back_left_far_sonar_sensor' filename='libgazebo_ros_range.so'>
<topicName>/prius/back_sonar/left_far_range</topicName>
<frameName>back_left_far_sonar_link</frameName>
</plugin>
<always_on>false</always_on>
<update_rate>5</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="back_left_middle_sonar_link">
<sensor name='back_left_middle_sonar_sensor' type='ray'>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.2</min>
<max>5</max>
<resolution>0.1</resolution>
</range>
</ray>
<plugin name='back_left_middle_sonar_sensor' filename='libgazebo_ros_range.so'>
<topicName>/prius/back_sonar/left_middle_range</topicName>
<frameName>back_left_middle_sonar_link</frameName>
</plugin>
<always_on>false</always_on>
<update_rate>5</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="back_right_far_sonar_link">
<sensor name='back_right_far_sonar_sensor' type='ray'>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.2</min>
<max>5</max>
<resolution>0.1</resolution>
</range>
</ray>
<plugin name='back_right_far_sonar_sensor' filename='libgazebo_ros_range.so'>
<topicName>/prius/back_sonar/right_far_range</topicName>
<frameName>back_right_far_sonar_link</frameName>
</plugin>
<always_on>false</always_on>
<update_rate>5</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="back_right_middle_sonar_link">
<sensor name='back_right_middle_sonar_sensor' type='ray'>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.2</min>
<max>5</max>
<resolution>0.1</resolution>
</range>
</ray>
<plugin name='back_right_middle_sonar_sensor' filename='libgazebo_ros_range.so'>
<topicName>/prius/back_sonar/right_middle_range</topicName>
<frameName>back_right_middle_sonar_link</frameName>
</plugin>
<always_on>false</always_on>
<update_rate>5</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="front_left_far_sonar_link">
<sensor name='front_left_far_sonar_sensor' type='ray'>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.2</min>
<max>5</max>
<resolution>0.1</resolution>
</range>
</ray>
<plugin name='front_left_far_sonar_sensor' filename='libgazebo_ros_range.so'>
<topicName>/prius/front_sonar/left_far_range</topicName>
<frameName>front_left_far_sonar_link</frameName>
</plugin>
<always_on>false</always_on>
<update_rate>5</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="front_left_middle_sonar_link">
<sensor name='front_left_middle_sonar_sensor' type='ray'>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.2</min>
<max>5</max>
<resolution>0.1</resolution>
</range>
</ray>
<plugin name='front_left_middle_sonar_sensor' filename='libgazebo_ros_range.so'>
<topicName>/prius/front_sonar/left_middle_range</topicName>
<frameName>front_left_middle_sonar_link</frameName>
</plugin>
<always_on>false</always_on>
<update_rate>5</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="front_right_far_sonar_link">
<sensor name='front_right_far_sonar_sensor' type='ray'>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.2</min>
<max>5</max>
<resolution>0.1</resolution>
</range>
</ray>
<plugin name='front_right_far_sonar_sensor' filename='libgazebo_ros_range.so'>
<topicName>/prius/front_sonar/right_far_range</topicName>
<frameName>front_right_far_sonar_link</frameName>
</plugin>
<always_on>false</always_on>
<update_rate>5</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="front_right_middle_sonar_link">
<sensor name='front_right_middle_sonar_sensor' type='ray'>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.2</min>
<max>5</max>
<resolution>0.1</resolution>
</range>
</ray>
<plugin name='front_right_middle_sonar_sensor' filename='libgazebo_ros_range.so'>
<topicName>/prius/front_sonar/right_middle_range</topicName>
<frameName>front_right_middle_sonar_link</frameName>
</plugin>
<always_on>false</always_on>
<update_rate>5</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
</robot>
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