controller_manager:
  ros__parameters:
    update_rate: 30

    diff_cont:
      type: diff_drive_controller/DiffDriveController
    
    joint_broad:
      type: joint_state_broadcaster/JointStateBroadcaster

diff_cont:
  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

    left_wheel_names: ['left_wheel_joint']
    right_wheel_names: ['right_wheel_joint']
    wheel_separation: 0.215
    wheel_radius: 0.049338032

    use_stamped_vel: false

    linear:
      x:
        has_velocity_limits: true
        max_velocity: 0.5
        has_acceleration_limits: true
        max_acceleration: 0.2

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