Migration to ros control (diff_drive_controller)

[ros_roboint.git] / config / control.yaml

diff --git a/config/control.yaml b/config/control.yaml
new file mode 100644 (file)
index 0000000..990d411
--- /dev/null
+++ b/config/control.yaml
@@ -0,0 +1,11 @@
+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