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31 lines
949 B
31 lines
949 B
type: "diff_drive_controller/DiffDriveController"
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publish_rate: 50
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left_wheel: [joint_left_wheel]
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right_wheel: [joint_right_wheel]
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wheel_separation: 0.315
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wheel_radius: 0.05
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# Odometry covariances for the encoder output of the robot. These values should
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# be tuned to your robot's sample odometry data, but these values are a good place
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# to start
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pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
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twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
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# Top level frame (link) of the robot description
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base_frame_id: base_link
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# Velocity and acceleration limits for the robot
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linear:
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x:
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has_velocity_limits : true
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max_velocity : 0.5 # m/s
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has_acceleration_limits: true
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max_acceleration : 1.0 # m/s^2
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angular:
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z:
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has_velocity_limits : true
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max_velocity : 2.0 # rad/s
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has_acceleration_limits: true
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max_acceleration : 6.0 # rad/s^2
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