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- ubiquity_motor:
- serial_port: "/dev/ttyMMC"
- serial_baud: 38400
- controller_loop_rate: 20
- pid_proportional: 5000
- pid_integral: 0
- pid_derivative: 0
- pid_denominator: 1000
- controller_board_version: 50
- fw_estop_enable: 1
- ubiquity_joint_publisher:
- type: "joint_state_controller/JointStateController"
- publish_rate: 50
- ubiquity_velocity_controller:
- type: "diff_drive_controller/DiffDriveController"
- left_wheel: 'left_wheel_joint'
- right_wheel: 'right_wheel_joint'
- publish_rate: 50
- pose_covariance_diagonal: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2]
- twist_covariance_diagonal: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2]
- cmd_vel_timeout: 0.25
- enable_odom_tf: false
- wheel_separation : 0.32
- wheel_radius : 0.1015
- base_frame_id: base_link
- # Wheel separation and radius multipliers
- wheel_separation_multiplier: 1.0 # 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 : false
- max_velocity : 1.0 # m/s
- has_acceleration_limits: true
- max_acceleration : 1.1 # m/s^2
- angular:
- z:
- has_velocity_limits : false
- max_velocity : 2.0 # rad/s
- has_acceleration_limits: true
- max_acceleration : 5.0 # rad/s^2
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