gz_quadruped_hardware/GazeboSimSystem $(find go2_description)/config/gazebo.yaml odom base 1000 odom 3 odom_with_covariance tf 0.6 0.6 1 1 500 true imu 0.0 2e-4 0.0000075 0.0000008 0.0 2e-4 0.0000075 0.0000008 0.0 2e-4 0.0000075 0.0000008 0.0 1.7e-2 0.1 0.001 0.0 1.7e-2 0.1 0.001 0.0 1.7e-2 0.1 0.001 true 2.094 1280 720 0.1 15 gaussian 0.0 0.007 front_camera camera/camera_info true 15 true camera/image