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The robot base is 0.4m long and 0.2m wide.
The robot is Ackermann steered. Each axle is 0.26m in length and the distance between axles is 0.3m. The center of the pair of axles is the center of the robot.
You can control the robot by publishing to /sim/control using the swc_msgs/Control.msg message.
You can request the list of waypoints (as GPS coordinates) at /sim/waypoints using the swc_msgs/Waypoints.srv message.
The GPS is published to /sim/gps and uses the swc_msgs/Gps.msg message. The GPS sensor is located at the center of the back axle. It is updated at ~10 Hz.
The IMU is published to /sim/imu and uses the sensor_msgs/Imu.msg message. The IMU sensor is located at the center of the back axle. It is updated at ~25 Hz.
The LIDAR is published to /scan and uses the sensor_msgs/LaserScan.msg message. The LIDAR is located at the center of the front axle. It is updated at ~10 Hz.
The Camera is published to /sim/image/compressed and uses the sensor_msgs\Image.msg message. The Camera is located at the center of the front axle. It is updated at ~60 Hz (can depend on your computer's performance).