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Update reference_timeout for physical robot.

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Matt Spencer
2026-08-02 16:08:35 +00:00
parent e50d0e2c27
commit a27c7147c3
1 changed files with 6 additions and 0 deletions
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src/elephant_robotics/agv_pro_bringup/config/ros2_controllers.yaml
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@@ -31,6 +31,12 @@ mecanum_drive_controller:
base_frame_id: base_footprint base_frame_id: base_footprint
enable_odom_tf: true enable_odom_tf: true
# How long a /cmd_vel (reference) command stays valid, in seconds. The
# controller default is 0.0, which treats every command as instantly expired
# so the controller halts between messages. 0.5 s holds the last command
# between messages (standard cmd_vel behaviour) so the base runs at speed.
reference_timeout: 0.5
kinematics: kinematics:
# wheel_radius: height of wheel centre above ground from URDF joint origin # wheel_radius: height of wheel centre above ground from URDF joint origin
# (base_footprint→base_link = 0.020 m + wheel joint z-offset ≈ 0.052 m = 0.072 m) # (base_footprint→base_link = 0.020 m + wheel joint z-offset ≈ 0.052 m = 0.072 m)