mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-11-23 15:45:08 +00:00
68 lines
1.5 KiB
YAML
68 lines
1.5 KiB
YAML
|
controller_manager:
|
||
|
|
ros__parameters:
|
||
|
|
update_rate: 30
|
||
|
|
use_sim_time: false
|
||
|
|
|
||
|
|
diff_cont:
|
||
|
|
type: diff_drive_controller/DiffDriveController
|
||
|
|
|
||
|
|
joint_broad:
|
||
|
|
type: joint_state_broadcaster/JointStateBroadcaster
|
||
|
|
|
||
|
|
diff_cont:
|
||
|
|
ros__parameters:
|
||
|
|
|
||
|
|
publish_rate: 50.0
|
||
|
|
|
||
|
|
base_frame_id: base_link
|
||
|
|
|
||
|
|
left_wheel_names: ['left_wheel_joint']
|
||
|
|
right_wheel_names: ['right_wheel_joint']
|
||
|
|
wheel_separation: 0.35
|
||
|
|
wheel_radius: 0.05
|
||
|
|
|
||
|
|
use_stamped_vel: false
|
||
|
|
|
||
|
|
# open_loop: false
|
||
|
|
|
||
|
|
# wheels_per_side: x
|
||
|
|
# wheel_separation_multiplier: x
|
||
|
|
# left_wheel_radius_multiplier: x
|
||
|
|
# right_wheel_radius_multiplier: x
|
||
|
|
|
||
|
|
# odom_frame_id: x
|
||
|
|
# pose_covariance_diagonal: x
|
||
|
|
# twist_covariance_diagonal: x
|
||
|
|
# open_loop: x
|
||
|
|
# enable_odom_tf: x
|
||
|
|
|
||
|
|
# cmd_vel_timeout: x
|
||
|
|
# publish_limited_velocity: x
|
||
|
|
# velocity_rolling_window_size: x
|
||
|
|
|
||
|
|
|
||
|
|
# linear.x.has_velocity_limits: false
|
||
|
|
# linear.x.has_acceleration_limits: false
|
||
|
|
# linear.x.has_jerk_limits: false
|
||
|
|
# linear.x.max_velocity: NAN
|
||
|
|
# linear.x.min_velocity: NAN
|
||
|
|
# linear.x.max_acceleration: NAN
|
||
|
|
# linear.x.min_acceleration: NAN
|
||
|
|
# linear.x.max_jerk: NAN
|
||
|
|
# linear.x.min_jerk: NAN
|
||
|
|
|
||
|
|
# angular.z.has_velocity_limits: false
|
||
|
|
# angular.z.has_acceleration_limits: false
|
||
|
|
# angular.z.has_jerk_limits: false
|
||
|
|
# angular.z.max_velocity: NAN
|
||
|
|
# angular.z.min_velocity: NAN
|
||
|
|
# angular.z.max_acceleration: NAN
|
||
|
|
# angular.z.min_acceleration: NAN
|
||
|
|
# angular.z.max_jerk: NAN
|
||
|
|
# angular.z.min_jerk: NAN
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
# joint_broad:
|
||
|
|
# ros__parameters:
|