bodies:
  - name: base
    pose: [1, -1, -90]
    type: dynamic
    color: [1, 1, 1, 0.4]

    footprints:
      - type: circle
        radius: 0.5
        density: 1

      - type: polygon
        points: [[-.45, -.05], [-.45, 0.05], [-.35, 0.05], [-.35, -0.05]]
        density: 1

      - type: polygon
        points: [[-.125, -.4], [-.125, -.3], [.125, -.3], [.125, -.4]]
        density: 1

      - type: polygon
        points: [[-.125, .4], [-.125, .3], [.125, .3], [.125, .4]]
        density: 1

plugins:
  - type: DiffDrive
    name: turtlebot_drive
    body: base
  - type: Laser
    name: laser_front
    body: base
    range: 30
    angle: {min: -45.0, max: 45.0, increment: 5.0}
    layers: ["map"]
    update_rate: 100
    broadcast_tf: true
    frame: laser_front