23 lines
520 B
YAML
23 lines
520 B
YAML
controller_manager:
|
|
ros__parameters:
|
|
update_rate: 50
|
|
|
|
diffdrive_controller:
|
|
type: diff_drive_controller/DiffDriveController
|
|
joint_state_broadcaster:
|
|
type: joint_state_broadcaster/JointStateBroadcaster
|
|
|
|
diffdrive_controller:
|
|
ros__parameters:
|
|
left_wheel_names: ["drivewhl_l_joint"]
|
|
right_wheel_names: ["drivewhl_r_joint"]
|
|
|
|
enable_odom_tf: true
|
|
odom_frame_id: odom
|
|
base_frame_id: base_footprint
|
|
|
|
open_loop: true
|
|
|
|
wheel_separation: 0.192
|
|
wheel_radius: 0.032
|