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control.yaml
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control.yaml
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husky_joint_publisher:
type: "joint_state_controller/JointStateController"
publish_rate: 50
husky_velocity_controller:
type: "diff_drive_controller/DiffDriveController"
left_wheel: ['front_left_wheel', 'rear_left_wheel']
right_wheel: ['front_right_wheel', 'rear_right_wheel']
publish_rate: 50
pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
cmd_vel_timeout: 0.25
velocity_rolling_window_size: 2
# Publish final output cmd_vel to /husky_velocity_controller/cmd_vel_out
publish_cmd: true
# Base frame_id
base_frame_id: base_link
# Odometry fused with IMU is published by robot_localization, so
# no need to publish a TF based on encoders alone.
enable_odom_tf: false
# Wheel separation and radius multipliers
wheel_separation_multiplier: 1.875 # default: 1.0
wheel_radius_multiplier : 1.0 # default: 1.0
# Velocity and acceleration limits
# Whenever a min_* is unspecified, default to -max_*
linear:
x:
has_velocity_limits : true
max_velocity : 1.0 # m/s
has_acceleration_limits: true
max_acceleration : 3.0 # m/s^2
angular:
z:
has_velocity_limits : true
max_velocity : 2.0 # rad/s
has_acceleration_limits: true
max_acceleration : 6.0 # rad/s^2