controller_manager:
  ros__parameters:
    update_rate: 30

    ackermann_steering_controller:
      type: 'ackermann_steering_controller/AckermannSteeringController'
    
    joint_broad:
      type: joint_state_broadcaster/JointStateBroadcaster

ackermann_steering_controller:
  ros__parameters:

    publish_rate: 30.0 # You can set this higher than the controller manager update rate, but it will be throttled
    base_frame_id: base_link
    publish_limited_velocity: true
    in_chained_mode: false

    reference_timeout: 2.0
    front_steering: true
    open_loop: false
    velocity_rolling_window_size: 10
    position_feedback: true
    use_stamped_vel: false
    rear_wheels_names: [rear_right_wheel_joint, rear_left_wheel_joint]
    front_wheels_names: [front_right_steer_joint, front_left_steer_joint]

    wheelbase: 3.24644
    front_wheel_track: 2.12321
    rear_wheel_track: 1.76868
    front_wheels_radius: 0.45
    rear_wheels_radius: 0.45


joint_limits:
  ros__parameters:
    left_wheel_joint:
      has_position_limits: false # Continuous joint
      has_velocity_limits: true
      max_velocity: 10.0
    right_wheel_joint:
      has_position_limits: false # Continuous joint
      has_velocity_limits: true
      max_velocity: 10.0