config/control.yaml

   1 joint_state_controller:
   2   type: "joint_state_controller/JointStateController"
   3   publish_rate: 10
   4
   5 diff_drive_controller:
   6   type: "diff_drive_controller/DiffDriveController"
   7   left_wheel: 'left_wheel_joint'
   8   right_wheel: 'right_wheel_joint'
   9   pose_covariance_diagonal:  [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
  10   twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
  11   publish_rate: 10
  12   cmd_vel_timeout: 1.0