ellensohn/bot_mini_bringup
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update

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This commit is contained in:
Björn Ellensohn 2023-06-14 10:36:05 +02:00
parent a819799fae
commit df19c6497c
1 changed files with 2 additions and 2 deletions
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config/diffbot_controllers.yaml
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@ -1,6 +1,6 @@
controller_manager: controller_manager:
ros__parameters: ros__parameters:
update_rate: 100 # Hz update_rate: 30 # Hz was 100 vefore
joint_state_broadcaster: joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster type: joint_state_broadcaster/JointStateBroadcaster
@ -24,7 +24,7 @@ diffbot_base_controller:
left_wheel_radius_multiplier: -1.0 left_wheel_radius_multiplier: -1.0
right_wheel_radius_multiplier: 1.0 right_wheel_radius_multiplier: 1.0
publish_rate: 100.0 publish_rate: 50.0 # was 100 before
odom_frame_id: odom odom_frame_id: odom
base_frame_id: base_link base_frame_id: base_link
# pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] # pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]