global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_footprint
      robot_radius: 0.17
      resolution: 0.01
      track_unknown_space: false
      rolling_window: false
      plugins: ["static_layer", "inflation_layer"]
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.23
      always_send_full_costmap: True

lifecycle_manager:
  ros__parameters:
    autostart: true
    node_names: ['map_server']


controller_manager:
  ros__parameters:
    update_rate: 10  # Hz

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

diffbot_base_controller:
  ros__parameters:
    type: diff_drive_controller/DiffDriveController

    left_wheel_names: ["drivewhl_l_joint"]
    right_wheel_names: ["drivewhl_r_joint"]

    wheel_separation: 0.29

    wheel_radius: 0.04

    wheel_separation_multiplier: 1.0
    left_wheel_radius_multiplier: 1.0
    right_wheel_radius_multiplier: 1.0

    publish_rate: 50.0
    odom_frame_id: odom
    base_frame_id: base_footprint
    pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
    twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]

    open_loop: true
    enable_odom_tf: true

    cmd_vel_timeout: 0.5

    # Velocity and acceleration limits
    # Whenever a min_* is unspecified, default to -max_*
    linear.x.has_velocity_limits: true
    linear.x.has_acceleration_limits: true
    linear.x.has_jerk_limits: false
    linear.x.max_velocity: 1.0
    linear.x.min_velocity: -1.0
    linear.x.max_acceleration: 1.0
    linear.x.max_jerk: 0.0
    linear.x.min_jerk: 0.0

    angular.z.has_velocity_limits: true
    angular.z.has_acceleration_limits: true
    angular.z.has_jerk_limits: false
    angular.z.max_velocity: 1.0
    angular.z.min_velocity: -1.0
    angular.z.max_acceleration: 1.0
    angular.z.min_acceleration: -1.0
    angular.z.max_jerk: 0.0
    angular.z.min_jerk: 0.0