+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