52 lines
1.7 KiB
YAML
52 lines
1.7 KiB
YAML
hoverboard_joint_publisher:
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type: "joint_state_controller/JointStateController"
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publish_rate: 50
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left_wheel : 'left_wheel'
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right_wheel : 'right_wheel'
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hoverboard_velocity_controller:
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type : "diff_drive_controller/DiffDriveController"
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left_wheel : 'left_wheel'
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right_wheel : 'right_wheel'
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publish_rate: 50.0 # default: 50
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pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
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twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
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# Wheel separation and diameter. These are both optional.
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# diff_drive_controller will attempt to read either one or both from the
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# URDF if not specified as a parameter
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wheel_separation : 0.32
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wheel_radius : 0.0825
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# Wheel separation and radius multipliers
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wheel_separation_multiplier: 1.0 # default: 1.0
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wheel_radius_multiplier : 1.0 # default: 1.0
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# Velocity commands timeout [s], default 0.5
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cmd_vel_timeout: 0.5
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# Base frame_id
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base_frame_id: base_footprint #default: base_link
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allow_multiple_cmd_vel_publishers: true
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odom_frame_id: '/raw_odom'
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enable_odom_tf: false
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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:
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x:
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has_velocity_limits : true
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max_velocity : 1.0 # m/s
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has_acceleration_limits: true
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max_acceleration : 0.8 # m/s^2
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has_jerk_limits : false
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max_jerk : 0.0 # m/s^3
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angular:
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z:
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has_velocity_limits : true # was true
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max_velocity : 6.28 # rad/s
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has_acceleration_limits: true # was true
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max_acceleration : 3.14 # rad/s^2
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has_jerk_limits : true
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max_jerk : 3.14 # rad/s^3
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