<!-- 2D LiDAR is configured as follows -->
<plugin name="example_laserscan" filename="libgazebo_ros_ray_sensor.so">
  <!-- ROS integration section that publishes the scan data; the namespace is optional and can be commented out -->
  <ros>
    <namespace>example_lidar</namespace>
    <remapping>~/out:=scan</remapping>
  </ros>
  <!-- the output message follows sensor_msgs/LaserScan and sets the frame of the LiDAR sensor -->
  <output_type>sensor_msgs/LaserScan</output_type>
  <frame_name>example_lidar_link</frame_name>
</plugin>

<!-- 3D LiDAR (Velodyne) is configured as follows -->

<plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_velodyne_laser.so">
  <ros>
    <namespace>/example_3dlidar</namespace>
    <remapping>~/out:=example_points_cloud</remapping>
  </ros>
  <topicName>velodyne_points</topicName>
  <frameName>base_scan</frameName>
  <organize_cloud>${true of false}</organize_cloud>
  <min_range>0.9</min_range>
  <max_range>130</max_range>
  <gaussian_noise>0.008</gaussian_noise>
</plugin>
        

 <!-- IMU is configured as follows -->

<plugin name="example_imu" filename="libgazebo_ros_imu_sensor.so">
    <!-- ROS integration section that publishes the IMU data -->      
    <ros>
      <namespace>imu</namespace>
      <remapping>~/out:=data</remapping>
    </ros>
    <initial_orientation_as_reference>false</initial_orientation_as_reference>
</plugin>

<!-- the camera can be used as RGB only or can also include depth information -->

<plugin name="example_camera" filename="libgazebo_ros_camera.so">
    <ros>
        <namespace>example_camera</namespace>
        <remapping>~/image_raw:=image_raw</remapping>
        <remapping>~/camera_info:=camera_info</remapping>
        <!-- depth camera settings (optional); ${name} is replaced by example_camera set in the namespace above -->
        <remapping>${name}/depth/image_raw:=depth/image_rect_raw</remapping>
        <remapping>${name}/depth/camera_info:=depth/camera_info</remapping>
        <remapping>${name}/points:=depth/points</remapping>
    </ros>
    <camera_name>${name}</camera_name>
    <frame_name>${name}_link_optical</frame_name>
    <hack_baseline>0.2</hack_baseline>
    <!-- depth camera settings (optional) -->
    <min_depth>0.05</min_depth>
    <max_depth>8.0</max_depth>            
</plugin>        

<!-- GPS is configured as follows -->

<plugin name="example_gps" filename="libgazebo_ros_gps_sensor.so">
    <ros>
      <namespace>/example_gps</namespace>
      <remapping>~/out:=gps</remapping>
    </ros>
    <frame_name>example_gps_link</frame_name>
</plugin>

<!-- the bumper sensor is configured as follows -->

<plugin name="exmaple_bumper" filename="libgazebo_ros_bumper.so">
    <ros>
      <namespace>example_bumper</namespace>
      <remapping>bumper_states:=bumper_demo</remapping>
    </ros>
    <frame_name>example_bumper_link</frame_name>
</plugin>

<!-- Joint_State_Publisher is configured as follows -->

<plugin name="example_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
  <ros>
    <namespace>/example</namespace>
    <remapping>~/out:=joint_states</remapping>
  </ros>
  <update_rate>30</update_rate>
  <joint_name>left_wheel_joint</joint_name>
  <joint_name>right_wheel_joint</joint_name>
</plugin>

<!-- the differential drive controller is configured as follows -->

<plugin name="example_diff_drive" filename="libgazebo_ros_diff_drive.so">

  <ros>
    <namespace>/example</namespace>
  </ros>

  <update_rate>30</update_rate>

  <!-- wheels -->
  <left_joint>left_wheel_joint</left_joint>
  <right_joint>right_wheel_joint</right_joint>

  <!-- kinematics -->
  <wheel_separation>${base_length + 2*wheel_base_separation}</wheel_separation>
  <wheel_diameter>${2*wheel_radius}</wheel_diameter>

  <!-- limits -->
  <max_wheel_torque>20</max_wheel_torque>
  <max_wheel_acceleration>1.0</max_wheel_acceleration>

  <command_topic>cmd_vel</command_topic>

  <!-- output -->
  <publish_odom>true</publish_odom>
  <publish_odom_tf>true</publish_odom_tf>
  <publish_wheel_tf>false</publish_wheel_tf>

  <odometry_topic>odom</odometry_topic>
  <odometry_frame>odom</odometry_frame>
  <robot_base_frame>base_link</robot_base_frame>

</plugin>