41 lines
1.0 KiB
YAML
41 lines
1.0 KiB
YAML
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 |