khanh93vn / beetle Goto Github PK

joint_state_broadcaster:
  type: joint_state_broadcaster/JointStateBroadcaster

ackermann_drive:
  type: ackermann_drive_controller/AckermannDriveController

front_steering: true
velocity_rolling_window_size: 10
position_feedback: true
in_chained_mode: false


wheel_separation: 0.297
wheel_radius: 0.05

use_stamped_vel: true

wheel_base: 0.335    
pivot_distance: 0.2  #0.803 



max_steering_speed: 1.5707963267948966
# max_steering_speed: 3.141592653589793
max_steering_angle: 0.7853981633974483

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_link
pose_covariance_diagonal : [0.001, 0.001, 0.0, 0.0, 0.0, 0.01]
twist_covariance_diagonal: [0.001, 0.0, 0.0, 0.0, 0.0, 0.01]

open_loop: false
enable_odom_tf: true

cmd_vel_timeout: 0.5
#publish_limited_velocity: true
#use_stamped_vel: false
#velocity_rolling_window_size: 10

# 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