1 joint_state_controller:
2 type: "joint_state_controller/JointStateController"
6 type: "diff_drive_controller/DiffDriveController"
7 left_wheel: ['front_left_wheel_joint', 'rear_left_wheel_joint']
8 right_wheel: ['front_right_wheel_joint', 'rear_right_wheel_joint']
10 pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
11 twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
12 cmd_vel_timeout: 1000000000
15 base_frame_id: base_footprint
17 # Odometry fused with IMU is published by robot_localization, so
18 # no need to publish a TF based on encoders alone.
21 # Hardware provides wheel velocities
22 estimate_velocity_from_position: false
24 # Wheel separation and radius multipliers
25 wheel_separation_multiplier: 1.4126 # default: 1.0
26 wheel_radius_multiplier : 1.0 # default: 1.0
28 # Velocity and acceleration limits
29 # Whenever a min_* is unspecified, default to -max_*
32 has_velocity_limits : true
33 max_velocity : 1.5 # m/s
34 has_acceleration_limits: true
35 max_acceleration : 2.0 # m/s^2
38 has_velocity_limits : true
39 max_velocity : 3.0 # rad/s
40 has_acceleration_limits: true
41 max_acceleration : 3.0 # rad/s^2