22 lines
520 B
YAML
22 lines
520 B
YAML
controller_manager:
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ros__parameters:
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update_rate: 50
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diffdrive_controller:
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type: diff_drive_controller/DiffDriveController
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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diffdrive_controller:
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ros__parameters:
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left_wheel_names: ["drivewhl_l_joint"]
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right_wheel_names: ["drivewhl_r_joint"]
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enable_odom_tf: true
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odom_frame_id: odom
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base_frame_id: base_footprint
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open_loop: true
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wheel_separation: 0.258
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wheel_radius: 0.0375 |