From df19c6497c6f2e34ee0755b27fe6f2b9af514bc6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Wed, 14 Jun 2023 10:36:05 +0200 Subject: [PATCH] update --- config/diffbot_controllers.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/config/diffbot_controllers.yaml b/config/diffbot_controllers.yaml index 6e51218..842acf8 100644 --- a/config/diffbot_controllers.yaml +++ b/config/diffbot_controllers.yaml @@ -1,6 +1,6 @@ controller_manager: ros__parameters: - update_rate: 100 # Hz + update_rate: 30 # Hz was 100 vefore joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster @@ -24,7 +24,7 @@ diffbot_base_controller: left_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 base_frame_id: base_link # pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]