joint_state_controller:
  type: "joint_state_controller/JointStateController"
  publish_rate: 10

diff_drive_controller:
  type: "diff_drive_controller/DiffDriveController"
  left_wheel: 'left_wheel_joint'
  right_wheel: 'right_wheel_joint'
  pose_covariance_diagonal:  [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
  twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
  publish_rate: 10