bumper2pointcloud: {pointcloud_height: 0.04, pointcloud_radius: 0.28, side_point_angle: 0.785}
cmd_vel_mux: {yaml_cfg_file: /home/jbowman/gizmo/src/gizmo/app/configs/mux.yaml}
diagnostic_aggregator:
  analyzers:
    access_points: {discard_stale: true, find_and_remove_prefix: 'access point ',
      path: Computer/Networks, timeout: 20.0, type: diagnostic_aggregator/GenericAnalyzer}
    behaviors:
      analyzers:
        navigation: {contains: may_nav, path: Navigation, type: diagnostic_aggregator/GenericAnalyzer}
      path: Behaviors
      type: diagnostic_aggregator/AnalyzerGroup
    computer:
      expected: [memory, swap]
      path: Computer
      startswith: [cpu, wifi]
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
    input_ports:
      contains: [Digital Input, Analog Input]
      path: Input Ports
      remove_prefix: mobile_base_nodelet_manager
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
    kobuki:
      contains: [Watchdog, Motor State]
      path: Mobile Base
      remove_prefix: mobile_base_nodelet_manager
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
    laser:
      path: Sensors
      startswith: ['system_diagnostics: scan']
      type: diagnostic_aggregator/GenericAnalyzer
    power:
      contains: [Battery]
      path: Power
      remove_prefix: mobile_base_nodelet_manager
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
    sensors:
      contains: [Cliff Sensor, Wall Sensor, Wheel Drop, Motor Current, Gyro Sensor]
      path: Sensors
      remove_prefix: mobile_base_nodelet_manager
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
dock_drive: {min_abs_v: 0.01, min_abs_w: 0.1}
gizmo_webrtc:
  flubnub: {disabled: false, password: nub, url: 'ws://0.0.0.0:9000', username: flub}
  id: tigger
  pubnub: {disabled: false, publish_key: pub-c-9d33ee62-1a4c-4aa8-b624-569c1e88138e,
    ssl_on: true, subscribe_key: sub-c-86612772-4dae-11e5-b018-0619f8945a4f}
  record:
    audio: true
    audio_sources: ['*']
    bitrate: 1024
    enabled: false
    rotate: 10
    video: true
    video_sources: [upward]
global_localize_script: {wheel_drop: /mobile_base/events/wheel_drop}
hokuyo2: {angle_max: 2.0943951, angle_min: -2.0943951, calibrate_time: false, frame_id: hokuyo_laser_link2,
  intensity: false, no_range_as_inf: true, serial_port: /dev/hokuyo, skip: 0}
image_wp_server: {image_topic: /webrtc/local/video_upward}
kobuki_docking_action_server: {auto_docking_timeout: 20, docking_tries: 3, navigation_timeout: 120}
may_nav:
  dynamic_global_map_clearing_timeout: 10.0
  global_planner: {bounded_planner_padding: 0.25, cost_func_dist_scaling: 1.0, goal_search_radius: 0.5,
    max_replan_period: 5.0, min_replan_period: 0.2, start_point_max_distance_from_robot: 0.35,
    start_point_search_angle_increment: 0.785398163397, start_point_search_distance_increment: 0.1}
  local_map: {bumper_contact_radius: 0.08, clear_laser_infs: false, resolution: 0.05,
    self_filter_radius: 0.18, size_x: 4.0, size_y: 4.0}
  local_planner: {aa: 4.0, ax: 0.5, cost_func_dist_scaling: 1.0, da: -16.0, delta_t: 0.1,
    dx: -1.0, goal_reached_angle_difference: 0.3, goal_reached_distance: 0.05, heading_lookahead_steps: 3,
    k_heading_angle_difference: 0.2, k_obstacle: 0.2, k_plan_angle_difference: 0.3,
    k_plan_distance: 4.5, k_target_angle_difference: 0.2, k_target_distance: 4.5,
    local_map_clearing_timeout: 5.0, loop_period: 0.1, plan_alignment_threshold: 0.4,
    plan_lookahead_distance: 0.5, robot_radius: 0.18, score_from_end_point: true,
    t_lookahead: 1.0, va_cmd_max_difference: 5.0, va_increment: 0.05, va_max: 2.0,
    va_min: 0.2, vx_cmd_max_difference: 1.0, vx_increment: 0.05, vx_max: 0.3, vx_min: 0.1}
  map_manager: {bumper_contact_radius: 0.08, clear_laser_infs: false, self_filter_radius: 0.18}
mobile_base: {base_frame: base_footprint, battery_capacity: 16.5, battery_dangerous: 13.2,
  battery_low: 14.0, cmd_vel_timeout: 0.6, device_port: /dev/kobuki, odom_frame: odom,
  publish_tf: true, use_imu_heading: true, wheel_left_joint_name: wheel_left_joint,
  wheel_right_joint_name: wheel_right_joint}
navigation_safety_controller: {time_to_extend_bump_cliff_events: 1.0}
robot: {name: turtlebot, type: turtlebot}
robot_description: "<?xml version=\"1.0\" ?>\n<!-- ===================================================================================\
  \ -->\n<!-- |    This document was autogenerated by xacro from /home/jbowman/gizmo/src/gizmo/gizmo_description/urdf/robots/gizmo_kobuki/robot.urdf.xacro\
  \ | -->\n<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                \
  \                 | -->\n<!-- ===================================================================================\
  \ -->\n<robot name=\"turtlebot\" xmlns:xacro=\"http://ros.org/wiki/xacro\">\n  <link\
  \ name=\"base_footprint\"/>\n  <joint name=\"base_joint\" type=\"fixed\">\n    <origin\
  \ rpy=\"0 0 0\" xyz=\"0 0 0.0102\"/>\n    <parent link=\"base_footprint\"/>\n  \
  \  <child link=\"base_link\"/>\n  </joint>\n  <link name=\"base_link\">\n    <visual>\n\
  \      <geometry>\n        <!-- new mesh -->\n        <mesh filename=\"package://kobuki_description/meshes/main_body.dae\"\
  />\n      </geometry>\n      <origin rpy=\"0 0 0\" xyz=\"0.001 0 0.05199\"/>\n \
  \   </visual>\n    <collision>\n      <geometry>\n        <cylinder length=\"0.065\"\
  \ radius=\"0.178\"/>\n      </geometry>\n      <origin rpy=\"0 0 0\" xyz=\"0.0 0\
  \ 0.05949\"/>\n    </collision>\n    <inertial>\n      <!-- COM experimentally determined\
  \ -->\n      <origin xyz=\"0.01 0 0\"/>\n      <mass value=\"2.4\"/>\n      <!--\
  \ 2.4/2.6 kg for small/big battery pack -->\n      <!-- Kobuki's inertia tensor\
  \ is approximated by a cylinder with homogeneous mass distribution\n           \
  \  More details: http://en.wikipedia.org/wiki/List_of_moment_of_inertia_tensors\n\
  \             m = 2.4 kg; h = 0.09 m; r = 0.175 m\n             ixx = 1/12 * m *\
  \ (3 * r^2 + h^2)\n             iyy = 1/12 * m * (3 * r^2 + h^2)\n             izz\
  \ = 1/2 * m * r^2 \n          -->\n      <inertia ixx=\"0.019995\" ixy=\"0.0\" ixz=\"\
  0.0\" iyy=\"0.019995\" iyz=\"0.0\" izz=\"0.03675\"/>\n    </inertial>\n  </link>\n\
  \  <joint name=\"wheel_left_joint\" type=\"continuous\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"wheel_left_link\"/>\n    <origin rpy=\"-1.57079632679 0 0\"\
  \ xyz=\"0.00 0.115 0.0250\"/>\n    <axis xyz=\"0 0 1\"/>\n  </joint>\n  <link name=\"\
  wheel_left_link\">\n    <visual>\n      <geometry>\n        <mesh filename=\"package://kobuki_description/meshes/wheel.dae\"\
  />\n      </geometry>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    </visual>\n\
  \    <collision>\n      <geometry>\n        <cylinder length=\"0.0206\" radius=\"\
  0.0352\"/>\n      </geometry>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n   \
  \ </collision>\n    <inertial>\n      <mass value=\"0.01\"/>\n      <origin xyz=\"\
  0 0 0\"/>\n      <inertia ixx=\"0.001\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.001\" iyz=\"\
  0.0\" izz=\"0.001\"/>\n    </inertial>\n  </link>\n  <joint name=\"wheel_right_joint\"\
  \ type=\"continuous\">\n    <parent link=\"base_link\"/>\n    <child link=\"wheel_right_link\"\
  />\n    <origin rpy=\"-1.57079632679 0 0\" xyz=\"0.00 -0.115 0.0250\"/>\n    <axis\
  \ xyz=\"0 0 1\"/>\n  </joint>\n  <link name=\"wheel_right_link\">\n    <visual>\n\
  \      <geometry>\n        <mesh filename=\"package://kobuki_description/meshes/wheel.dae\"\
  />\n      </geometry>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    </visual>\n\
  \    <collision>\n      <geometry>\n        <cylinder length=\"0.0206\" radius=\"\
  0.0350\"/>\n      </geometry>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n   \
  \ </collision>\n    <inertial>\n      <mass value=\"0.01\"/>\n      <origin xyz=\"\
  0 0 0\"/>\n      <inertia ixx=\"0.001\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.001\" iyz=\"\
  0.0\" izz=\"0.001\"/>\n    </inertial>\n  </link>\n  <joint name=\"caster_front_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"caster_front_link\"\
  />\n    <origin rpy=\"-1.57079632679 0 0\" xyz=\"0.115 0.0 0.007\"/>\n  </joint>\n\
  \  <link name=\"caster_front_link\">\n    <collision>\n      <geometry>\n      \
  \  <cylinder length=\"0.0176\" radius=\"0.017\"/>\n      </geometry>\n      <origin\
  \ rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    </collision>\n    <inertial>\n      <mass value=\"\
  0.01\"/>\n      <origin xyz=\"0 0 0\"/>\n      <inertia ixx=\"0.001\" ixy=\"0.0\"\
  \ ixz=\"0.0\" iyy=\"0.001\" iyz=\"0.0\" izz=\"0.001\"/>\n    </inertial>\n  </link>\n\
  \  <joint name=\"caster_back_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"caster_back_link\"/>\n    <origin rpy=\"-1.57079632679 0 0\"\
  \ xyz=\"-0.135 0.0 0.009\"/>\n  </joint>\n  <link name=\"caster_back_link\">\n \
  \   <collision>\n      <geometry>\n        <cylinder length=\"0.0176\" radius=\"\
  0.017\"/>\n      </geometry>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    </collision>\n\
  \    <inertial>\n      <mass value=\"0.01\"/>\n      <origin xyz=\"0 0 0\"/>\n \
  \     <inertia ixx=\"0.001\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.001\" iyz=\"0.0\" izz=\"\
  0.001\"/>\n    </inertial>\n  </link>\n  <joint name=\"gyro_joint\" type=\"fixed\"\
  >\n    <axis xyz=\"0 1 0\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0.056 0.062 0.0202\"\
  />\n    <parent link=\"base_link\"/>\n    <child link=\"gyro_link\"/>\n  </joint>\n\
  \  <link name=\"gyro_link\">\n    <inertial>\n      <mass value=\"0.001\"/>\n  \
  \    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n      <inertia ixx=\"0.0001\" ixy=\"\
  0\" ixz=\"0\" iyy=\"0.000001\" iyz=\"0\" izz=\"0.0001\"/>\n    </inertial>\n  </link>\n\
  \  <joint name=\"cliff_sensor_left_joint\" type=\"fixed\">\n    <origin rpy=\"0\
  \ 1.57079632679 0\" xyz=\"0.08734 0.13601 0.0214\"/>\n    <parent link=\"base_link\"\
  />\n    <child link=\"cliff_sensor_left_link\"/>\n  </joint>\n  <link name=\"cliff_sensor_left_link\"\
  >\n    <inertial>\n      <mass value=\"0.0001\"/>\n      <origin xyz=\"0 0 0\"/>\n\
  \      <inertia ixx=\"0.0001\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0001\" iyz=\"0.0\"\
  \ izz=\"0.0001\"/>\n    </inertial>\n  </link>\n  <joint name=\"cliff_sensor_right_joint\"\
  \ type=\"fixed\">\n    <origin rpy=\"0 1.57079632679 0\" xyz=\"0.085 -0.13601 0.0214\"\
  />\n    <parent link=\"base_link\"/>\n    <child link=\"cliff_sensor_right_link\"\
  />\n  </joint>\n  <link name=\"cliff_sensor_right_link\">\n    <inertial>\n    \
  \  <mass value=\"0.0001\"/>\n      <origin xyz=\"0 0 0\"/>\n      <inertia ixx=\"\
  0.0001\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0001\" iyz=\"0.0\" izz=\"0.0001\"/>\n \
  \   </inertial>\n  </link>\n  <joint name=\"cliff_sensor_front_joint\" type=\"fixed\"\
  >\n    <origin rpy=\"0 1.57079632679 0\" xyz=\"0.156 0.00 0.0214\"/>\n    <parent\
  \ link=\"base_link\"/>\n    <child link=\"cliff_sensor_front_link\"/>\n  </joint>\n\
  \  <link name=\"cliff_sensor_front_link\">\n    <inertial>\n      <mass value=\"\
  0.0001\"/>\n      <origin xyz=\"0 0 0\"/>\n      <inertia ixx=\"0.0001\" ixy=\"\
  0.0\" ixz=\"0.0\" iyy=\"0.0001\" iyz=\"0.0\" izz=\"0.0001\"/>\n    </inertial>\n\
  \  </link>\n  <gazebo reference=\"wheel_left_link\">\n    <mu1>1.0</mu1>\n    <mu2>1.0</mu2>\n\
  \    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <minDepth>0.001</minDepth>\n  \
  \  <maxVel>1.0</maxVel>\n  </gazebo>\n  <gazebo reference=\"wheel_right_link\">\n\
  \    <mu1>1.0</mu1>\n    <mu2>1.0</mu2>\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n\
  \    <minDepth>0.001</minDepth>\n    <maxVel>1.0</maxVel>\n  </gazebo>\n  <gazebo\
  \ reference=\"caster_front_link\">\n    <mu1>0.0</mu1>\n    <mu2>0.0</mu2>\n   \
  \ <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <minDepth>0.001</minDepth>\n    <maxVel>1.0</maxVel>\n\
  \  </gazebo>\n  <gazebo reference=\"caster_back_link\">\n    <mu1>0.0</mu1>\n  \
  \  <mu2>0.0</mu2>\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <minDepth>0.001</minDepth>\n\
  \    <maxVel>1.0</maxVel>\n  </gazebo>\n  <gazebo reference=\"base_link\">\n   \
  \ <mu1>0.3</mu1>\n    <mu2>0.3</mu2>\n    <sensor name=\"bumpers\" type=\"contact\"\
  >\n      <always_on>1</always_on>\n      <update_rate>50.0</update_rate>\n     \
  \ <visualize>true</visualize>\n      <contact>\n        <collision>base_footprint_collision_base_link</collision>\n\
  \      </contact>\n    </sensor>\n  </gazebo>\n  <gazebo reference=\"cliff_sensor_left_link\"\
  >\n    <sensor name=\"cliff_sensor_left\" type=\"ray\">\n      <always_on>true</always_on>\n\
  \      <update_rate>50</update_rate>\n      <visualize>true</visualize>\n      <ray>\n\
  \        <scan>\n          <horizontal>\n            <samples>50</samples>\n   \
  \         <resolution>1.0</resolution>\n            <min_angle>-0.0436</min_angle>\n\
  \            <!-- -2.5 degree -->\n            <max_angle>0.0436</max_angle>\n \
  \           <!-- 2.5 degree -->\n          </horizontal>\n          <!--       \
  \     Can't use vertical rays until this bug is resolved: -->\n          <!--  \
  \          https://bitbucket.org/osrf/gazebo/issue/509/vertical-sensor-doesnt-works\
  \ -->\n          <!-- \t          <vertical> -->\n          <!-- \t            <samples>50</samples>\
  \ -->\n          <!-- \t            <resolution>1.0</resolution> -->\n         \
  \ <!-- \t            <min_angle>-0.0436</min_angle>  -2.5 degree -->\n         \
  \ <!-- \t            <max_angle>0.0436</max_angle> 2.5 degree -->\n          <!--\
  \ \t          </vertical> -->\n        </scan>\n        <range>\n          <min>0.01</min>\n\
  \          <max>0.15</max>\n          <resolution>1.0</resolution>\n        </range>\n\
  \      </ray>\n    </sensor>\n  </gazebo>\n  <gazebo reference=\"cliff_sensor_right_link\"\
  >\n    <sensor name=\"cliff_sensor_right\" type=\"ray\">\n      <always_on>true</always_on>\n\
  \      <update_rate>50</update_rate>\n      <visualize>true</visualize>\n      <ray>\n\
  \        <scan>\n          <horizontal>\n            <samples>50</samples>\n   \
  \         <resolution>1.0</resolution>\n            <min_angle>-0.0436</min_angle>\n\
  \            <!-- -2.5 degree -->\n            <max_angle>0.0436</max_angle>\n \
  \           <!-- 2.5 degree -->\n          </horizontal>\n          <!--       \
  \     Can't use vertical rays until this bug is resolved: -->\n          <!--  \
  \          https://bitbucket.org/osrf/gazebo/issue/509/vertical-sensor-doesnt-works\
  \ -->\n          <!-- \t          <vertical> -->\n          <!-- \t            <samples>50</samples>\
  \ -->\n          <!-- \t            <resolution>1.0</resolution> -->\n         \
  \ <!-- \t            <min_angle>-0.0436</min_angle>  -2.5 degree -->\n         \
  \ <!-- \t            <max_angle>0.0436</max_angle> 2.5 degree -->\n          <!--\
  \ \t          </vertical> -->\n        </scan>\n        <range>\n          <min>0.01</min>\n\
  \          <max>0.15</max>\n          <resolution>1.0</resolution>\n        </range>\n\
  \      </ray>\n    </sensor>\n  </gazebo>\n  <gazebo reference=\"cliff_sensor_front_link\"\
  >\n    <sensor name=\"cliff_sensor_front\" type=\"ray\">\n      <always_on>true</always_on>\n\
  \      <update_rate>50</update_rate>\n      <visualize>true</visualize>\n      <ray>\n\
  \        <scan>\n          <horizontal>\n            <samples>50</samples>\n   \
  \         <resolution>1.0</resolution>\n            <min_angle>-0.0436</min_angle>\n\
  \            <!-- -2.5 degree -->\n            <max_angle>0.0436</max_angle>\n \
  \           <!-- 2.5 degree -->\n          </horizontal>\n          <!-- \t    \
  \      Can't use vertical rays until this bug is resolved: -->\n          <!-- \
  \           https://bitbucket.org/osrf/gazebo/issue/509/vertical-sensor-doesnt-works\
  \ -->\n          <!-- \t          <vertical> -->\n          <!-- \t            <samples>50</samples>\
  \ -->\n          <!-- \t            <resolution>1.0</resolution> -->\n         \
  \ <!-- \t            <min_angle>-0.0436</min_angle>  -2.5 degree -->\n         \
  \ <!-- \t            <max_angle>0.0436</max_angle> 2.5 degree -->\n          <!--\
  \ \t          </vertical> -->\n        </scan>\n        <range>\n          <min>0.01</min>\n\
  \          <max>0.15</max>\n          <resolution>1.0</resolution>\n        </range>\n\
  \      </ray>\n    </sensor>\n  </gazebo>\n  <gazebo reference=\"gyro_link\">\n\
  \    <sensor name=\"imu\" type=\"imu\">\n      <always_on>true</always_on>\n   \
  \   <update_rate>50</update_rate>\n      <visualize>false</visualize>\n      <imu>\n\
  \        <noise>\n          <type>gaussian</type>\n          <rate>\n          \
  \  <mean>0.0</mean>\n            <stddev>1.96e-06</stddev>\n            <!-- 0.25\
  \ x 0.25 (deg/s) -->\n            <bias_mean>0.0</bias_mean>\n            <bias_stddev>0.0</bias_stddev>\n\
  \          </rate>\n          <accel>\n            <!-- not used in the plugin and\
  \ real robot, hence using tutorial values -->\n            <mean>0.0</mean>\n  \
  \          <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n   \
  \         <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n\
  \      </imu>\n    </sensor>\n  </gazebo>\n  <gazebo>\n    <plugin filename=\"libgazebo_ros_kobuki.so\"\
  \ name=\"kobuki_controller\">\n      <publish_tf>1</publish_tf>\n      <left_wheel_joint_name>wheel_left_joint</left_wheel_joint_name>\n\
  \      <right_wheel_joint_name>wheel_right_joint</right_wheel_joint_name>\n    \
  \  <wheel_separation>.230</wheel_separation>\n      <wheel_diameter>0.070</wheel_diameter>\n\
  \      <torque>1.0</torque>\n      <velocity_command_timeout>0.6</velocity_command_timeout>\n\
  \      <cliff_sensor_left_name>cliff_sensor_left</cliff_sensor_left_name>\n    \
  \  <cliff_sensor_center_name>cliff_sensor_front</cliff_sensor_center_name>\n   \
  \   <cliff_sensor_right_name>cliff_sensor_right</cliff_sensor_right_name>\n    \
  \  <cliff_detection_threshold>0.04</cliff_detection_threshold>\n      <bumper_name>bumpers</bumper_name>\n\
  \      <imu_name>imu</imu_name>\n    </plugin>\n  </gazebo>\n  <gazebo>\n    <plugin\
  \ filename=\"libgazebo_ros_p3d.so\" name=\"ground_truth\">\n      <frameName>map</frameName>\n\
  \      <bodyName>base_footprint</bodyName>\n      <topicName>robot_pose_ground_truth</topicName>\n\
  \      <updateRate>30.0</updateRate>\n    </plugin>\n  </gazebo>\n  <joint name=\"\
  laptop_mount_joint\" type=\"fixed\">\n    <origin rpy=\"3.14159265359 3.14159265359\
  \ 3.14159265359\" xyz=\"0.00063911 0 0.12578\"/>\n    <parent link=\"base_link\"\
  />\n    <child link=\"laptop_mount_link\"/>\n  </joint>\n  <link name=\"laptop_mount_link\"\
  >\n    <visual>\n      <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.13\"/>\n      <geometry>\n\
  \        <cylinder length=\"0.26\" radius=\"0.015\"/>\n      </geometry>\n     \
  \ <material name=\"\">\n        <color rgba=\"0.1 0.1 0.1 1\"/>\n      </material>\n\
  \    </visual>\n    <inertial>\n      <mass value=\"0.001\"/>\n      <origin xyz=\"\
  0 0 0\"/>\n      <inertia ixx=\"0.0001\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0001\"\
  \ iyz=\"0.0\" izz=\"0.0001\"/>\n    </inertial>\n  </link>\n  <joint name=\"laser_joint\"\
  \ type=\"fixed\">\n    <origin rpy=\"3.14159265359 0 0\" xyz=\"0.075 0 0.013\"/>\n\
  \    <parent link=\"laptop_mount_link\"/>\n    <child link=\"hokuyo_laser_link\"\
  />\n  </joint>\n  <link name=\"hokuyo_laser_link\">\n    <visual>\n      <origin\
  \ rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n      <!--origin xyz=\"0 0 -0.062\" rpy=\"0 0 0\"\
  \ /-->\n      <geometry>\n        <mesh filename=\"package://gizmo_description/meshes/sensors/hokuyo_link.STL\"\
  />\n        <!--mesh filename=\"package://gizmo_description/meshes/sensors/hokuyo.dae\"\
  /-->\n      </geometry>\n      <material name=\"black\">\n        <color rgba=\"\
  0.1 0.1 0.1 1\"/>\n      </material>\n    </visual>\n    <inertial>\n      <mass\
  \ value=\"0.001\"/>\n      <origin xyz=\"0 0 0\"/>\n      <inertia ixx=\"0.0001\"\
  \ ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0001\" iyz=\"0.0\" izz=\"0.0001\"/>\n    </inertial>\n\
  \  </link>\n  <gazebo reference=\"hokuyo_laser_link\">\n    <sensor name=\"head_hokuyo_sensor\"\
  \ type=\"ray\">\n      <pose>0 0 0 0 0 0</pose>\n      <visualize>false</visualize>\n\
  \      <update_rate>10</update_rate>\n      <ray>\n        <scan>\n          <horizontal>\n\
  \            <samples>512</samples>\n            <resolution>1</resolution>\n  \
  \          <min_angle>-3.14159265</min_angle>\n            <max_angle>3.14159265</max_angle>\n\
  \          </horizontal>\n        </scan>\n        <range>\n          <min>0.1</min>\n\
  \          <max>15.0</max>\n          <resolution>0.01</resolution>\n        </range>\n\
  \        <noise>\n          <type>gaussian</type>\n          <!-- Noise parameters\
  \ based on published spec for Hokuyo laser\n\t\t achieving \"+-30mm\" accuracy at\
  \ range < 10m.  A mean of 0.0m and\n\t\t stddev of 0.01m will put 99.7% of samples\
  \ within 0.03m of the true\n\t\t reading. -->\n          <mean>0.0</mean>\n    \
  \      <stddev>0.01</stddev>\n        </noise>\n      </ray>\n      <plugin filename=\"\
  libgazebo_ros_laser.so\" name=\"gazebo_ros_head_hokuyo_controller\">\n        <topicName>/scan</topicName>\n\
  \        <frameName>hokuyo_laser_link</frameName>\n      </plugin>\n    </sensor>\n\
  \  </gazebo>\n  <joint name=\"laser_joint2\" type=\"fixed\">\n    <origin rpy=\"\
  0 0 0\" xyz=\"0.075 0 0.148\"/>\n    <parent link=\"laptop_mount_link\"/>\n    <child\
  \ link=\"hokuyo_laser_link2\"/>\n  </joint>\n  <link name=\"hokuyo_laser_link2\"\
  >\n    <visual>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n      <!--origin xyz=\"\
  0 0 -0.062\" rpy=\"0 0 0\" /-->\n      <geometry>\n        <mesh filename=\"package://gizmo_description/meshes/sensors/hokuyo_link.STL\"\
  />\n        <!--mesh filename=\"package://gizmo_description/meshes/sensors/hokuyo.dae\"\
  /-->\n      </geometry>\n      <material name=\"black\">\n        <color rgba=\"\
  0.1 0.1 0.1 1\"/>\n      </material>\n    </visual>\n    <inertial>\n      <mass\
  \ value=\"0.001\"/>\n      <origin xyz=\"0 0 0\"/>\n      <inertia ixx=\"0.0001\"\
  \ ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0001\" iyz=\"0.0\" izz=\"0.0001\"/>\n    </inertial>\n\
  \  </link>\n  <gazebo reference=\"hokuyo_laser_link2\">\n    <sensor name=\"head_hokuyo_sensor2\"\
  \ type=\"ray\">\n      <pose>0 0 0 0 0 0</pose>\n      <visualize>false</visualize>\n\
  \      <update_rate>10</update_rate>\n      <ray>\n        <scan>\n          <horizontal>\n\
  \            <samples>512</samples>\n            <resolution>1</resolution>\n  \
  \          <min_angle>-3.14159265</min_angle>\n            <max_angle>3.14159265</max_angle>\n\
  \          </horizontal>\n        </scan>\n        <range>\n          <min>0.1</min>\n\
  \          <max>15.0</max>\n          <resolution>0.01</resolution>\n        </range>\n\
  \        <noise>\n          <type>gaussian</type>\n          <!-- Noise parameters\
  \ based on published spec for Hokuyo laser\n\t\t achieving \"+-30mm\" accuracy at\
  \ range < 10m.  A mean of 0.0m and\n\t\t stddev of 0.01m will put 99.7% of samples\
  \ within 0.03m of the true\n\t\t reading. -->\n          <mean>0.0</mean>\n    \
  \      <stddev>0.01</stddev>\n        </noise>\n      </ray>\n      <plugin filename=\"\
  libgazebo_ros_laser.so\" name=\"gazebo_ros_head_hokuyo_controller\">\n        <topicName>/scan2</topicName>\n\
  \        <frameName>hokuyo_laser_link2</frameName>\n      </plugin>\n    </sensor>\n\
  \  </gazebo>\n  <link name=\"upward_looking_camera_link\">\n    <visual>\n     \
  \ <!--origin xyz=\"0 0 0\" rpy=\"${M_PI/2} 0 ${M_PI/2}\" /-->\n      <origin rpy=\"\
  0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <!--mesh filename=\"package://gizmo_description/meshes/sensors/genius_camera.stl\"\
  /-->\n        <mesh filename=\"package://gizmo_description/meshes/sensors/camera_link.STL\"\
  />\n      </geometry>\n      <material name=\"DarkGrey\">\n        <color rgba=\"\
  0.215625 0.215625 0.215625 1\"/>\n      </material>\n    </visual>\n    <inertial>\n\
  \      <mass value=\"0.001\"/>\n      <origin xyz=\"0 0 0\"/>\n      <inertia ixx=\"\
  0.0001\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0001\" iyz=\"0.0\" izz=\"0.0001\"/>\n \
  \   </inertial>\n  </link>\n  <joint name=\"upward_looking_camera_joint\" type=\"\
  fixed\">\n    <!-- Orientations applied in YPR order!-->\n    <origin rpy=\"-1.57\
  \ 0 0\" xyz=\"0.035 0.0 0.202\"/>\n    <parent link=\"laptop_mount_link\"/>\n  \
  \  <child link=\"upward_looking_camera_link\"/>\n  </joint>\n  <link name=\"upward_looking_camera_optical_frame\"\
  >\n    <inertial>\n      <mass value=\"0.0001\"/>\n      <origin xyz=\"0 0 0\"/>\n\
  \      <inertia ixx=\"0.0001\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0001\" iyz=\"0.0\"\
  \ izz=\"0.0001\"/>\n    </inertial>\n  </link>\n  <joint name=\"upward_looking_camera_optical_joint\"\
  \ type=\"fixed\">\n    <!-- Orientations applied in YPR order!-->\n    <!-- <origin\
  \ xyz=\"0 0 0\" rpy=\"0 ${-M_PI/2} ${M_PI/2}\" /> -->\n    <origin rpy=\"-1.57079632679\
  \ 0 -1.57079632679\" xyz=\"0 0 0\"/>\n    <parent link=\"upward_looking_camera_link\"\
  />\n    <child link=\"upward_looking_camera_optical_frame\"/>\n  </joint>\n  <gazebo\
  \ reference=\"upward_looking_camera_link\">\n    <sensor name=\"upward_looking_sensor\"\
  \ type=\"camera\">\n      <update_rate>15.0</update_rate>\n      <camera name=\"\
  upward_looking_camera\">\n        <horizontal_fov>2.09</horizontal_fov>\n      \
  \  <image>\n          <width>1920</width>\n          <height>1080</height>\n   \
  \       <format>R8G8B8</format>\n        </image>\n        <clip>\n          <near>0.02</near>\n\
  \          <far>300</far>\n        </clip>\n        <noise>\n          <type>gaussian</type>\n\
  \          <!-- Noise is sampled independently per pixel on each frame.  \n\t\t\
  \ That pixel's noise value is added to each of its color\n\t\t channels, which at\
  \ that point lie in the range [0,1]. -->\n          <mean>0.0</mean>\n         \
  \ <stddev>0.007</stddev>\n        </noise>\n      </camera>\n      <plugin filename=\"\
  libgazebo_ros_camera.so\" name=\"camera_controller\">\n        <alwaysOn>true</alwaysOn>\n\
  \        <updateRate>15.0</updateRate>\n        <cameraName>upward_looking_camera</cameraName>\n\
  \        <imageTopicName>image_raw</imageTopicName>\n        <cameraInfoTopicName>camera_info</cameraInfoTopicName>\n\
  \        <frameName>upward_looking_camera_link</frameName>\n        <hackBaseline>0.0</hackBaseline>\n\
  \        <distortionK1>0.0</distortionK1>\n        <distortionK2>0.0</distortionK2>\n\
  \        <distortionK3>0.0</distortionK3>\n        <distortionT1>0.0</distortionT1>\n\
  \        <distortionT2>0.0</distortionT2>\n      </plugin>\n    </sensor>\n  </gazebo>\n\
  \  <link name=\"downward_looking_camera_link\">\n    <visual>\n      <!--origin\
  \ xyz=\"0 0 0\" rpy=\"${M_PI/2} 0 ${M_PI/2}\" /-->\n      <origin rpy=\"0 0 0\"\
  \ xyz=\"0 0 0\"/>\n      <geometry>\n        <!--mesh filename=\"package://gizmo_description/meshes/sensors/genius_camera.stl\"\
  /-->\n        <mesh filename=\"package://gizmo_description/meshes/sensors/camera_link.STL\"\
  />\n      </geometry>\n      <material name=\"DarkGrey\">\n        <color rgba=\"\
  0.215625 0.215625 0.215625 1\"/>\n      </material>\n    </visual>\n    <inertial>\n\
  \      <mass value=\"0.001\"/>\n      <origin xyz=\"0 0 0\"/>\n      <inertia ixx=\"\
  0.0001\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0001\" iyz=\"0.0\" izz=\"0.0001\"/>\n \
  \   </inertial>\n  </link>\n  <joint name=\"downward_looking_camera_joint\" type=\"\
  fixed\">\n    <!-- Orientations applied in YPR order!-->\n    <origin rpy=\"0 0.52\
  \ 0\" xyz=\"0.035 0.0 0.16\"/>\n    <parent link=\"laptop_mount_link\"/>\n    <child\
  \ link=\"downward_looking_camera_link\"/>\n  </joint>\n  <link name=\"downward_looking_camera_optical_frame\"\
  >\n    <inertial>\n      <mass value=\"0.0001\"/>\n      <origin xyz=\"0 0 0\"/>\n\
  \      <inertia ixx=\"0.0001\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0001\" iyz=\"0.0\"\
  \ izz=\"0.0001\"/>\n    </inertial>\n  </link>\n  <joint name=\"downward_looking_camera_optical_joint\"\
  \ type=\"fixed\">\n    <!-- Orientations applied in YPR order!-->\n    <!-- <origin\
  \ xyz=\"0 0 0\" rpy=\"0 ${-M_PI/2} ${M_PI/2}\" /> -->\n    <origin rpy=\"-1.57079632679\
  \ 0 -1.57079632679\" xyz=\"0 0 0\"/>\n    <parent link=\"downward_looking_camera_link\"\
  />\n    <child link=\"downward_looking_camera_optical_frame\"/>\n  </joint>\n  <gazebo\
  \ reference=\"downward_looking_camera_link\">\n    <sensor name=\"downward_looking_sensor\"\
  \ type=\"camera\">\n      <update_rate>15.0</update_rate>\n      <camera name=\"\
  downward_looking_camera\">\n        <horizontal_fov>2.09</horizontal_fov>\n    \
  \    <image>\n          <width>1920</width>\n          <height>1080</height>\n \
  \         <format>R8G8B8</format>\n        </image>\n        <clip>\n          <near>0.02</near>\n\
  \          <far>300</far>\n        </clip>\n        <noise>\n          <type>gaussian</type>\n\
  \          <!-- Noise is sampled independently per pixel on each frame.  \n\t\t\
  \ That pixel's noise value is added to each of its color\n\t\t channels, which at\
  \ that point lie in the range [0,1]. -->\n          <mean>0.0</mean>\n         \
  \ <stddev>0.007</stddev>\n        </noise>\n      </camera>\n      <plugin filename=\"\
  libgazebo_ros_camera.so\" name=\"camera_controller\">\n        <alwaysOn>true</alwaysOn>\n\
  \        <updateRate>15.0</updateRate>\n        <cameraName>downward_looking_camera</cameraName>\n\
  \        <imageTopicName>image_raw</imageTopicName>\n        <cameraInfoTopicName>camera_info</cameraInfoTopicName>\n\
  \        <frameName>downward_looking_camera_link</frameName>\n        <hackBaseline>0.0</hackBaseline>\n\
  \        <distortionK1>0.0</distortionK1>\n        <distortionK2>0.0</distortionK2>\n\
  \        <distortionK3>0.0</distortionK3>\n        <distortionT1>0.0</distortionT1>\n\
  \        <distortionT2>0.0</distortionT2>\n      </plugin>\n    </sensor>\n  </gazebo>\n\
  </robot>\n\n"
robot_state_publisher: {publish_frequency: 5.0}
rosdistro: 'indigo

  '
roslaunch:
  uris: {host_tigger__50394: 'http://tigger:50394/', host_tigger__56027: 'http://tigger:56027/'}
rosversion: '1.11.9

  '
rplidarNode: {angle_compensate: true, distance_factor: 1.0, frame_id: hokuyo_laser_link,
  inverted: false, serial_baudrate: 115200, serial_port: /dev/rplidar}
run_id: 92f3c62e-da77-11e5-979c-023d92617c59
slam_gmapping: {angularUpdate: 0.5, linearUpdate: 0.2, map_update_interval: 1, throttle_scans: 1,
  xmax: 15, xmin: -15, ymax: 15, ymin: -15}
teleop_velocity_smoother: {accel_lim_v: 0.5, accel_lim_w: 2.0, decel_factor: 1.2,
  frequency: 20.0, robot_feedback: 2, speed_lim_v: 0.3, speed_lim_w: 1.0}
verbose_logger:
  aws_bucket: mayfieldrobotics-crash-bags
  recording_window: 20
  robot_name: tigger
  topics: [/rosout, /tf, /map, /odom, /scan, /mobile_base/bno055, /cmd_vel_mux/input/navi,
    /mobile_base/commands/velocity, /mobile_base/events/bumper, /mobile_base/events/cliff,
    /mobile_base/events/wheel_drop, /mobile_base/i2c_errors]
webrtc:
  cameras:
    upward: {label: upward, name: 'id:///dev/video0', publish: true}
  ice_servers:
  - {uri: 'stun:stun.services.mozilla.com:3478'}
  - {uri: 'stun:stun.l.google.com:19302'}
  - {uri: 'stun:mayfieldrobotics-coturn-yhcdzt.c2x.io'}
  - {password: MZrZN7wuJgRu0saLVCy8RxGxNAf9wrvT, uri: 'turn:mayfieldrobotics-coturn-yhcdzt.c2x.io',
    username: gizmo}
  queue_sizes: {audio: 1000, data: 1000, video: 1000}
  session:
    constraints:
      mandatory: {maxHeight: '1080', maxWidth: '1920', minHeight: '1080', minWidth: '1920'}
      optional: {DtlsSrtpKeyAgreement: 'true'}