0 0 -0.035 0 0 0 0 0 -0.035 0 0 0 -0.035 0.035 -0.08 0 0 0 -0.035 -0.035 -0.08 0 0 0 0.0495 0 -0.08 0 0 0 0 0 -0.035 0 0 0 0 0 -0.035 0 0 0 0 0 -0.035 0 0 0 ${frequency} /velodyne_points ${name}_link ${horizontal_res * (max_frequency / frequency)} 1 -3.141592654 3.141592654 ${nr_of_channels} 1 ${vertical_fov * -0.0087266463} ${vertical_fov * 0.0087266463} ${min_range} ${max_range} ${precision}