motors.yaml

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