44 lines
1.2 KiB
YAML
44 lines
1.2 KiB
YAML
controller_manager:
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ros__parameters:
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update_rate: 30
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ackermann_steering_controller:
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type: 'ackermann_steering_controller/AckermannSteeringController'
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joint_broad:
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type: joint_state_broadcaster/JointStateBroadcaster
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ackermann_steering_controller:
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ros__parameters:
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publish_rate: 30.0 # You can set this higher than the controller manager update rate, but it will be throttled
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base_frame_id: base_link
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publish_limited_velocity: true
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in_chained_mode: false
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reference_timeout: 2.0
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front_steering: true
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open_loop: false
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velocity_rolling_window_size: 10
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position_feedback: true
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use_stamped_vel: false
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rear_wheels_names: [rear_right_wheel_joint, rear_left_wheel_joint]
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front_wheels_names: [front_right_steer_joint, front_left_steer_joint]
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wheelbase: 3.24644
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front_wheel_track: 2.12321
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rear_wheel_track: 1.76868
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front_wheels_radius: 0.45
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rear_wheels_radius: 0.45
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joint_limits:
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ros__parameters:
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left_wheel_joint:
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has_position_limits: false # Continuous joint
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has_velocity_limits: true
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max_velocity: 10.0
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right_wheel_joint:
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has_position_limits: false # Continuous joint
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has_velocity_limits: true
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max_velocity: 10.0 |