jiaweilong66
23 lines
738 B
YAML
23 lines
738 B
YAML
controller_manager:
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ros__parameters:
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update_rate: 100
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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diff_drive_controller:
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type: diff_drive_controller/DiffDriveController
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left_wheel_names: ["left_front_wheel_joint", "left_rear_wheel_joint"]
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right_wheel_names: ["right_front_wheel_joint", "right_rear_wheel_joint"]
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wheel_separation: 0.36
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wheel_radius: 0.05
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base_frame_id: base_link
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use_stamped_vel: false
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publish_rate: 50
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enable_odom_tf: true
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odom_frame_id: odom
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pose_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
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twist_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03] |