simulation/gazebo: added controller for imu, range sensors and diff

[ros_wild_thumper.git] / config / control.yaml

diff --git a/config/control.yaml b/config/control.yaml
new file mode 100644 (file)
index 0000000..648218d
--- /dev/null
+++ b/config/control.yaml
@@ -0,0 +1,41 @@
+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: 1.0 # 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