mirror of
https://github.com/bjoernellens1/cps_loki_bringup.git
synced 2024-11-22 15:43:48 +00:00
88 lines
3.1 KiB
YAML
88 lines
3.1 KiB
YAML
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controller_manager:
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ros__parameters:
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update_rate: 100 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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diffbot_base_controller:
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type: diff_drive_controller/DiffDriveController
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diffbot_base_controller:
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ros__parameters:
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# left_wheel_names: ["left_wheel_joint"]
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# right_wheel_names: ["right_wheel_joint"]
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right_wheel_names: ["left_wheel_joint"] # needed to switch names because motors are connected to the wrong slots
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left_wheel_names: ["right_wheel_joint"]
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wheel_separation: 0.28
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#wheels_per_side: 1 # actually 2, but both are controlled by 1 signal
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wheel_radius: 0.065
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wheel_separation_multiplier: 1.0
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left_wheel_radius_multiplier: -1.0
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right_wheel_radius_multiplier: 1.0
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publish_rate: 100.0
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odom_frame_id: odom
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base_frame_id: base_link
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# pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
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# twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
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pose_covariance_diagonal:
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[0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
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twist_covariance_diagonal:
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[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
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open_loop: false
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enable_odom_tf: true
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cmd_vel_timeout: 0.5
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#publish_limited_velocity: true
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use_stamped_vel: false
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velocity_rolling_window_size: 10 # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml
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# preserve turning radius when limiting speed/acceleration/jerk
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preserve_turning_radius: false # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml
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# Velocity and acceleration limits
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# Whenever a min_* is unspecified, default to -max_*
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# linear.x.has_velocity_limits: false
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# linear.x.has_acceleration_limits: false
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# linear.x.has_jerk_limits: false
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# linear.x.max_velocity: 2.0
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# linear.x.min_velocity: -2.0
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# linear.x.max_acceleration: 5.0
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# linear.x.max_jerk: 0.0
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# linear.x.min_jerk: 0.0
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# angular.z.has_velocity_limits: false
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# angular.z.has_acceleration_limits: false
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# angular.z.has_jerk_limits: false
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# angular.z.max_velocity: 5.0
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# angular.z.min_velocity: -5.0
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# angular.z.max_acceleration: 10.0
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# angular.z.min_acceleration: -10.0
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# angular.z.max_jerk: 0.0
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# angular.z.min_jerk: 0.0
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linear.x.has_velocity_limits: true
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linear.x.has_acceleration_limits: false
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linear.x.has_jerk_limits: false
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linear.x.max_velocity: 2.0
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linear.x.min_velocity: -2.0
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linear.x.min_acceleration: -5.0
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linear.x.max_acceleration: 5.0
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linear.x.max_jerk: 0.0
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linear.x.min_jerk: 0.0
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angular.z.has_velocity_limits: true
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angular.z.has_acceleration_limits: true
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angular.z.has_jerk_limits: false
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angular.z.max_velocity: 6.28
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angular.z.min_velocity: -6.28
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angular.z.max_acceleration: 25.0
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angular.z.min_acceleration: -25.0
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angular.z.max_jerk: 0.0
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angular.z.min_jerk: 0.0
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