Pimpest
a4691caeed
* Added primary stepper motor driver code to repo * Added odometery encoder code to repo * Added the ability to update encoder wheel ratio via ros service Co-authored-by: Pimpest <82343504+Pimpest@users.noreply.github.com> Co-committed-by: Pimpest <82343504+Pimpest@users.noreply.github.com>
22 lines
514 B
YAML
22 lines
514 B
YAML
controller_manager:
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ros__parameters:
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update_rate: 100
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diffdrive_controller:
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type: diff_drive_controller/DiffDriveController
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joint_state_publisher:
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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: ["left_motor"]
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right_wheel_names: ["right_motor"]
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enable_odom_tf: false
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odom_frame_id: odom_excpected
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base_frame_id: base-link
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open_loop: true
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wheel_separation: 0.258
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wheel_radius: 0.0375 |