controller_manager:
  ros__parameters:
    update_rate: 30  # Hz was 100 vefore

    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

    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]
    # twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
    # 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]
    
    open_loop: false
    enable_odom_tf: true #disabled because tf will be handled by robot_localizaion node in the future (imu sensor fusion)

    cmd_vel_timeout: 10.0 # was 0.1
    #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