mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-11-27 17:35:46 +00:00
68 lines
1.5 KiB
YAML
68 lines
1.5 KiB
YAML
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controller_manager:
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ros__parameters:
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update_rate: 30
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use_sim_time: false
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diff_cont:
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type: diff_drive_controller/DiffDriveController
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joint_broad:
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type: joint_state_broadcaster/JointStateBroadcaster
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diff_cont:
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ros__parameters:
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publish_rate: 50.0
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base_frame_id: base_link
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left_wheel_names: ['left_wheel_joint']
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right_wheel_names: ['right_wheel_joint']
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wheel_separation: 0.35
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wheel_radius: 0.05
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use_stamped_vel: false
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# open_loop: false
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# wheels_per_side: x
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# wheel_separation_multiplier: x
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# left_wheel_radius_multiplier: x
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# right_wheel_radius_multiplier: x
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# odom_frame_id: x
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# pose_covariance_diagonal: x
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# twist_covariance_diagonal: x
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# open_loop: x
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# enable_odom_tf: x
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# cmd_vel_timeout: x
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# publish_limited_velocity: x
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# velocity_rolling_window_size: x
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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: NAN
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# linear.x.min_velocity: NAN
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# linear.x.max_acceleration: NAN
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# linear.x.min_acceleration: NAN
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# linear.x.max_jerk: NAN
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# linear.x.min_jerk: NAN
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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: NAN
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# angular.z.min_velocity: NAN
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# angular.z.max_acceleration: NAN
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# angular.z.min_acceleration: NAN
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# angular.z.max_jerk: NAN
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# angular.z.min_jerk: NAN
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# joint_broad:
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# ros__parameters:
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