1 joint_state_controller:
2 type: "joint_state_controller/JointStateController"
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]