1 1000.0 1 100.0 base_bumper 0.005 1 20 base_scan base_laser_link 1 100.0 torso_lift_bumper 1 25.0 narrow_stereo/left image_raw camera_info narrow_stereo_optical_frame 0 320.5 320.5 240.5 772.55 0.0 0.0 0.0 0.0 0.0 1 25.0 narrow_stereo/right image_raw camera_info narrow_stereo_optical_frame 0.09 320.5 320.5 240.5 772.55 0.0 0.0 0.0 0.0 0.0 1 25.0 wide_stereo/left image_raw camera_info wide_stereo_optical_frame 0 320.5 320.5 240.5 320 0.0 0.0 0.0 0.0 0.0 1 25.0 wide_stereo/right image_raw camera_info wide_stereo_optical_frame 0.09 320.5 320.5 240.5 320 0.0 0.0 0.0 0.0 0.0 1 20.0 prosilica image_raw camera_info request_image high_def_optical_frame 1224.5 1224.5 1025.5 2955 0.0 0.0 0.0 0.0 0.0 1 25.0 l_forearm_cam image_raw camera_info l_forearm_cam_optical_frame 0 320.5 320.5 240.5 320 0.0 0.0 0.0 0.0 0.0 1 l_gripper_l_finger_tip_link 100.0 l_gripper_l_finger_tip_bumper 1 l_gripper_r_finger_tip_link 100.0 l_gripper_r_finger_tip_bumper 0.005 1 40 tilt_scan laser_tilt_link 1 25.0 r_forearm_cam image_raw camera_info r_forearm_cam_optical_frame 0 320.5 320.5 240.5 320 0.0 0.0 0.0 0.0 0.0 1 r_gripper_l_finger_tip_link 100.0 r_gripper_l_finger_tip_bumper 1 r_gripper_r_finger_tip_link 100.0 r_gripper_r_finger_tip_bumper 3141.5999999999999 -3141.5999999999999 3141.5999999999999 -3141.5999999999999 3141.5999999999999 1 1000.0 1 1.0 5 power_state 10.0 87.78 -474 525 15.52 16.41 1 100.0 base_link base_pose_ground_truth 0.01 map 25.7 25.7 0 0 0 0 1 100.0 imu_link torso_lift_imu/data 2.89e-08 0 0 0 0 0 0 1 100.0 r_gripper_l_finger_link r_gripper_l_finger_pose_ground_truth 0.0 base_link 1 100.0 r_gripper_l_finger_link r_gripper_l_finger_force_ground_truth r_gripper_l_finger_link 1 100.0 r_gripper_palm_link r_gripper_palm_pose_ground_truth 0 0 0 0 0 0 0.0 map 1 100.0 l_gripper_l_finger_link l_gripper_l_finger_pose_ground_truth 0.0 base_link 1 100.0 l_gripper_l_finger_link l_gripper_l_finger_force_ground_truth l_gripper_l_finger_link 1 100.0 l_gripper_palm_link l_gripper_palm_pose_ground_truth 0 0 0 0 0 0 0.0 map