controller_manager:
  ros__parameters:
    update_rate: 100

    diffdrive_controller:
      type: diff_drive_controller/DiffDriveController
    joint_state_publisher:
      type: joint_state_broadcaster/JointStateBroadcaster

diffdrive_controller:
  ros__parameters:
    left_wheel_names: ["left_motor"]
    right_wheel_names: ["right_motor"]
    
    enable_odom_tf: true
    odom_frame_id: odom
    base_frame_id: base-link

    open_loop: true 

    wheel_separation: 0.258
    wheel_radius: 0.0375