yujinrobot/kobuki_desktop — pull request #34 by jihoonl (2014-08-25 05:50:58+00:00)
Title: Kobuki Gazebo Updates.

It utilise [GazeboRos Utilities](https://github.com/ros-simulation/gazebo_ros_pkgs/blob/hydro-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h) for tf prefix and topic namespacing.

Referenced [GazeboRosDiffDrive](https://github.com/ros-simulation/gazebo_ros_pkgs/blob/hydro-devel/gazebo_plugins/src/gazebo_ros_diff_drive.cpp).

Also now it has `base_prefix` parameter to configure mobile base namespace. So now we can use topics in following way.

odom
tf
joint_state
/commands/velocity
/sensors/xxx
/events/xxx