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controller_manager :
ros__parameters :
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update_rate : 30 # Hz was 100 vefore
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joint_state_broadcaster :
type : joint_state_broadcaster/JointStateBroadcaster
diffbot_base_controller :
type : diff_drive_controller/DiffDriveController
diffbot_base_controller :
ros__parameters :
# left_wheel_names: ["left_wheel_joint"]
# right_wheel_names: ["right_wheel_joint"]
right_wheel_names : [ "left_wheel_joint" ] # needed to switch names because motors are connected to the wrong slots
left_wheel_names : [ "right_wheel_joint" ]
wheel_separation : 0.28
#wheels_per_side: 1 # actually 2, but both are controlled by 1 signal
wheel_radius : 0.065
wheel_separation_multiplier : 1.0
left_wheel_radius_multiplier : -1.0
right_wheel_radius_multiplier : 1.0
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publish_rate : 50.0 # was 100 before
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odom_frame_id : odom
base_frame_id : base_link
# pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
# twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
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# pose_covariance_diagonal:
# [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
# twist_covariance_diagonal:
# [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml
# Updated covariance matrix to small values on the diagonal axis for package ros_localization. This is recommended for diffdrive rorbots.
pose_covariance_diagonal : [ 0.0001 , 0.0001 , 0.0001 , 0.0001 , 0.0001 , 0.0001 ]
twist_covariance_diagonal : [ 0.0001 , 0.0001 , 0.0001 , 0.0001 , 0.0001 , 0.0001 ]
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open_loop : false
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#enable_odom_tf: true #disabled because tf will be handled by robot_localizaion node in the future (imu sensor fusion)
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cmd_vel_timeout : 0.5
#publish_limited_velocity: true
use_stamped_vel : false
velocity_rolling_window_size : 10 # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml
# preserve turning radius when limiting speed/acceleration/jerk
preserve_turning_radius : false # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml
# Velocity and acceleration limits
# Whenever a min_* is unspecified, default to -max_*
# linear.x.has_velocity_limits: false
# linear.x.has_acceleration_limits: false
# linear.x.has_jerk_limits: false
# linear.x.max_velocity: 2.0
# linear.x.min_velocity: -2.0
# linear.x.max_acceleration: 5.0
# linear.x.max_jerk: 0.0
# linear.x.min_jerk: 0.0
# angular.z.has_velocity_limits: false
# angular.z.has_acceleration_limits: false
# angular.z.has_jerk_limits: false
# angular.z.max_velocity: 5.0
# angular.z.min_velocity: -5.0
# angular.z.max_acceleration: 10.0
# angular.z.min_acceleration: -10.0
# angular.z.max_jerk: 0.0
# angular.z.min_jerk: 0.0
linear.x.has_velocity_limits : true
linear.x.has_acceleration_limits : false
linear.x.has_jerk_limits : false
linear.x.max_velocity : 2.0
linear.x.min_velocity : -2.0
linear.x.min_acceleration : -5.0
linear.x.max_acceleration : 5.0
linear.x.max_jerk : 0.0
linear.x.min_jerk : 0.0
angular.z.has_velocity_limits : true
angular.z.has_acceleration_limits : true
angular.z.has_jerk_limits : false
angular.z.max_velocity : 6.28
angular.z.min_velocity : -6.28
angular.z.max_acceleration : 25.0
angular.z.min_acceleration : -25.0
angular.z.max_jerk : 0.0
angular.z.min_jerk : 0.0
