Gazebo/Orange Gazebo/Blue Gazebo/Blue Gazebo/White Gazebo/White diffdrive_arduino/DiffDriveArduino left_wheel_joint right_wheel_joint 30 /dev/ttyUSB0 57600 1000 3436 -10 10 -10 10 /home/bjorn/Documents/ros_projects/cps_rmp220_support/install/cps_rmp220_support/share/cps_rmp220_support/config/my_controllers.yaml /home/bjorn/Documents/ros_projects/cps_rmp220_support/install/cps_rmp220_support/share/cps_rmp220_support/config/gaz_ros2_ctl_use_sim.yaml Gazebo/Black 0 0 0 0 0 0 true 10 1.089 R8G8B8 640 480 0.05 8.0 camera_link_optical Gazebo/Black