init

2025-11-18 09:38:47 +01:00
commit a2491e7624
27 changed files with 1199 additions and 0 deletions
--- a/toid_navigation/params/toid_diffdrive_params.yaml
+++ b/toid_navigation/params/toid_diffdrive_params.yaml
@@ -0,0 +1,14 @@
+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