diffdrive_controller:
  ros__parameters:
    type: diff_drive_controller/DiffDriveController
    left_wheel_names: ["drivewhl_l_joint"]
    right_wheel_names: ["drivewhl_r_joint"]
    
    enable_odom_tf: true
    odom_frame_id: odom
    base_frame_id: base_link

    open_loop: true 

    wheel_separation: 0.5
    wheel_radius: 0.1