# -----------------------------------
left_wheel  : 'left_wheel_joint' 
right_wheel : 'right_wheel_joint'
publish_rate: 50              # this is what the real MiR platform publishes (default: 50)
# These covariances are exactly what the real MiR platform publishes
pose_covariance_diagonal : [0.00001, 0.00001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
twist_covariance_diagonal: [0.1, 0.1, 1000000.0, 1000000.0, 1000000.0, 1000.0]
enable_odom_tf: true
enable_wheel_tf: true
allow_multiple_cmd_vel_publishers: true
# open_loop: false
# Wheel separation and diameter. These are both optional.
# diff_drive_controller will attempt to read either one or both from the
# URDF if not specified as a parameter.
# We don't set the value here because it's different for each MiR type (100, 250, ...), and
# the plugin figures out the correct values.
wheel_separation : 0.5106
wheel_radius : 0.1

# Wheel separation and radius multipliers
wheel_separation_multiplier: 1.0 # default: 1.0
wheel_radius_multiplier    : 1.0 # default: 1.0

# Velocity commands timeout [s], default 0.5
cmd_vel_timeout: 1.0

# frame_ids (same as real MiR platform)
base_frame_id: base_footprint # default: base_link base_footprint
odom_frame_id: odom           # default: odom 

# Velocity and acceleration limits
# Whenever a min_* is unspecified, default to -max_*
linear:
  x:
    has_velocity_limits    : true
    max_velocity           : 1.5  # m/s; move_base max_vel_x: 0.8
    min_velocity           : -1.5 # m/s
    has_acceleration_limits: true
    max_acceleration       : 3.0  # m/s^2; move_base acc_lim_x: 1.5
    min_acceleration       : -3.0 # m/s^2
    has_jerk_limits        : true
    max_jerk               : 5.0  # m/s^3
angular:
  z:
    has_velocity_limits    : true
    max_velocity           : 0.6  # rad/s; move_base max_rot_vel: 1.0
    min_velocity           : -0.6 
    has_acceleration_limits: true
    max_acceleration       : 3.0 # rad/s^2; move_base acc_lim_th: 2.0
    has_jerk_limits        : true
    max_jerk               : 2.5  # rad/s^3

left_wheel_joint: 
  lookup_name: WheelPlugin
  max_publish_rate: 50
  mesurement_topic: left_encoder
  frame_id: left_wheel_link
  wheel_topic: /left_wheel
  subscribe_queue_size: 1
  command_timeout: 5.0
  origin : [0.0, 0.255, 0.075, 0.0, 0.0, 0.0]  # origin from base_frame_id

right_wheel_joint:  
  lookup_name: WheelPlugin
  max_publish_rate: 50
  mesurement_topic: right_encoder
  frame_id: right_wheel_link
  wheel_topic: /right_wheel
  subscribe_queue_size: 1
  command_timeout: 5.0
  origin : [0.0, -0.255, 0.075, 0.0, 0.0, 0.0]  # origin from base_frame_id
