cmd_vel odom odom 20.0 base_footprint 0 0 0.06 0 0 0 true 10 360 1 -3.14159265 3.14159265 0.3 10.0 0.01 gaussian 0.0 0.01 scan laser true 20.0 1.221730456 512 424 L8 0.5 6.0 gaussian 0.1 0.07 kinect2/sd true 20.0 image_ir_rect image_depth_rect points camera_info kinect2_ir_optical_frame 0.5 6.0 0.1 0.0 0.0 0.0 0.0 0.0 true 20.0 1.221730456 1920 1080 R8G8B8 0.2 10.0 gaussian 0.0 0.007 true 20.0 kinect2/hd image_color_rect camera_info kinect2_rgb_optical_frame 0.1 0.0 0.0 0.0 0.0 0.0