jiaweilong66
29 lines
1.0 KiB
YAML
29 lines
1.0 KiB
YAML
controller_manager:
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ros__parameters:
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update_rate: 100 # 控制器更新频率 (Hz)
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use_sim_time: true # 使用仿真时间
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# 定义关节状态广播器
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fishbot_joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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use_sim_time: true
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# 定义全向驱动控制器
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fishbot_omni_drive_controller:
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type: omni_drive_controller/OmniDriveController
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# 四轮全向控制器配置
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fishbot_omni_drive_controller:
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ros__parameters:
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front_left_wheel_joint: front_left_wheel_joint
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front_right_wheel_joint: front_right_wheel_joint
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rear_left_wheel_joint: rear_left_wheel_joint
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rear_right_wheel_joint: rear_right_wheel_joint
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wheel_separation: 0.36 # 轮距
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wheel_diameter: 0.1 # 轮子直径
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publish_rate: 50.0 # 发布频率
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odom_frame_id: odom
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base_frame_id: base_link
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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]
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