{
    "apiVersion": "1.0.0",
    "name": "turtebot3_bringup",
    "packageVersion": "v0.0.1",
    "description": "",
    "bindable": true,
    "plans": [
        {
            "name": "default",
            "metadata": {},
            "singleton": false,
            "components": [
                {
                    "name": "bringup",
                    "description": "",
                    "ros": {
                        "topics": [
                            {
                                "name": "/tf",
                                "qos": "low",
                                "compression": "",
                                "scoped": false,
                                "targeted": false
                            },
                            {
                                "name": "/scan",
                                "qos": "low",
                                "compression": "",
                                "scoped": false,
                                "targeted": false
                            },
                            {
                                "name": "/cmd_vel",
                                "qos": "low",
                                "compression": "",
                                "scoped": false,
                                "targeted": false
                            }
                        ],
                        "services": [],
                        "actions": [],
                        "isROS": true,
                        "ros_distro": "melodic"
                    },
                    "requiredRuntime": "device",
                    "restart_policy": "always",
                    "architecture": "arm32v7",
                    "executables": [
                        {
                            "name": "launch",
                            "simulationOptions": {
                                "simulation": false
                            },
                            "cmd": [
                                "roslaunch turtlebot3_bringup turtlebot3_robot.launch"
                            ]
                        }
                    ],
                    "parameters": []
                }
            ],
            "includePackages": [],
            "dependentDeployments": [],
            "inboundROSInterfaces": {
                "topics": [
                    {
                        "name": "/cmd_vel"
                    }
                ],
                "services": [],
                "actions": []
            },
            "exposedParameters": []
        }
    ]
}