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bhuvanchandradv

motors.yaml

Apr 3rd, 2019
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  1. ubiquity_motor:
  2. serial_port: "/dev/ttyMMC"
  3. serial_baud: 38400
  4. controller_loop_rate: 20
  5. pid_proportional: 5000
  6. pid_integral: 0
  7. pid_derivative: 0
  8. pid_denominator: 1000
  9. controller_board_version: 50
  10. fw_estop_enable: 1
  11.  
  12. ubiquity_joint_publisher:
  13. type: "joint_state_controller/JointStateController"
  14. publish_rate: 50
  15.  
  16. ubiquity_velocity_controller:
  17. type: "diff_drive_controller/DiffDriveController"
  18. left_wheel: 'left_wheel_joint'
  19. right_wheel: 'right_wheel_joint'
  20. publish_rate: 50
  21. pose_covariance_diagonal: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2]
  22. twist_covariance_diagonal: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2]
  23. cmd_vel_timeout: 0.25
  24.  
  25. enable_odom_tf: false
  26.  
  27. wheel_separation : 0.32
  28. wheel_radius : 0.1015
  29.  
  30.  
  31. base_frame_id: base_link
  32.  
  33. # Wheel separation and radius multipliers
  34. wheel_separation_multiplier: 1.0 # default: 1.0
  35. wheel_radius_multiplier : 1.0 # default: 1.0
  36.  
  37. # Velocity and acceleration limits
  38. # Whenever a min_* is unspecified, default to -max_*
  39. linear:
  40. x:
  41. has_velocity_limits : false
  42. max_velocity : 1.0 # m/s
  43. has_acceleration_limits: true
  44. max_acceleration : 1.1 # m/s^2
  45. angular:
  46. z:
  47. has_velocity_limits : false
  48. max_velocity : 2.0 # rad/s
  49. has_acceleration_limits: true
  50. max_acceleration : 5.0 # rad/s^2
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