joint_state_controller: type: "joint_state_controller/JointStateController" publish_rate: 20 diff_drive_controller: type: "diff_drive_controller/DiffDriveController" left_wheel: ['front_left_wheel_joint', 'rear_left_wheel_joint'] right_wheel: ['front_right_wheel_joint', 'rear_right_wheel_joint'] publish_rate: 20 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] cmd_vel_timeout: 1000000000 # Base frame_id base_frame_id: base_footprint # Odometry fused with IMU is published by robot_localization, so # no need to publish a TF based on encoders alone. enable_odom_tf: false # Hardware provides wheel velocities estimate_velocity_from_position: false # Wheel separation and radius multipliers wheel_separation_multiplier: 1.4126 # default: 1.0 wheel_radius_multiplier : 1.0 # default: 1.0 # Velocity and acceleration limits # Whenever a min_* is unspecified, default to -max_* linear: x: has_velocity_limits : true max_velocity : 1.5 # m/s has_acceleration_limits: true max_acceleration : 2.0 # m/s^2 angular: z: has_velocity_limits : true max_velocity : 3.0 # rad/s has_acceleration_limits: true max_acceleration : 3.0 # rad/s^2