add agv_pro_gazebo

2025-06-26 12:02:01 +09:00
parent 23491dad2e
commit 1e40001e4c
25 changed files with 1212 additions and 0 deletions
@@ -0,0 +1,23 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    diff_drive_controller:
+      type: diff_drive_controller/DiffDriveController
+      left_wheel_names: ["left_front_wheel_joint", "left_rear_wheel_joint"]
+      right_wheel_names: ["right_front_wheel_joint", "right_rear_wheel_joint"]
+
+      wheel_separation: 0.36
+      wheel_radius: 0.05
+
+      base_frame_id: base_link
+      use_stamped_vel: false
+      publish_rate: 50
+
+      enable_odom_tf: true
+      odom_frame_id: odom
+      pose_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
+      twist_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]