66 lines
1.9 KiB
YAML
66 lines
1.9 KiB
YAML
controller_manager:
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ros__parameters:
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update_rate: 60 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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staubi_base_controller:
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type: diff_drive_controller/DiffDriveController
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staubi_base_controller:
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ros__parameters:
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left_wheel_names: ["left_wheel_joint"]
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right_wheel_names: ["right_wheel_joint"]
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use_stamped_vel: false
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wheel_separation: 0.222
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#wheels_per_side: 1 # actually 2, but both are controlled by 1 signal
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wheel_radius: 0.0355
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wheel_separation_multiplier: 1.0
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left_wheel_radius_multiplier: 1.0
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right_wheel_radius_multiplier: 1.0
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publish_rate: 60.0
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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, 0.001, 0.001, 0.001, 0.01]
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twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
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open_loop: false
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# open_loop: true
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position_feedback: true
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enable_odom_tf: true
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cmd_vel_timeout: 0.5
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#publish_limited_velocity: true
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#velocity_rolling_window_size: 10
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# Velocity and acceleration limits
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# Whenever a min_* is unspecified, default to -max_*
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linear.x.has_velocity_limits: true
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# linear.x.has_velocity_limits: false
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linear.x.has_acceleration_limits: true
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# linear.x.has_acceleration_limits: false
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# linear.x.has_jerk_limits: true
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linear.x.has_jerk_limits: false
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linear.x.max_velocity: 1.3
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linear.x.min_velocity: -0.3
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# linear.x.max_acceleration: 10.0
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linear.x.max_acceleration: 1.4
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# linear.x.max_acceleration: 10.0
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# linear.x.max_jerk: 1.0
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# linear.x.min_jerk: 0.0
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angular.z.has_velocity_limits: true
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angular.z.has_acceleration_limits: true
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angular.z.has_jerk_limits: false
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angular.z.max_velocity: 7.0
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angular.z.min_velocity: -7.0
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angular.z.max_acceleration: 3.0
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angular.z.min_acceleration: -3.0
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angular.z.max_jerk: 0.0
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angular.z.min_jerk: 0.0
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