controller_manager:
  ros__parameters:
    update_rate: 50

    diffdrive_controller:
      type: diff_drive_controller/DiffDriveController
    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster
    velocity_controller:
      type: forward_command_controller/ForwardCommandController

velocity_controller:
  ros__parameters:
    joints:
     - drivewhl_l_joint
     - drivewhl_r_joint
    interface_name: velocity

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