commandTopic: $(arg prefix)cmd_vel
odometryTopic: odom
odometryFrame: $(arg prefix)odom
odometryEncTopic: odom_enc
odometryEncChildFrame: $(arg prefix)odom_enc
robotBaseFrame: $(arg prefix)base_link
steerChildFrame: $(arg prefix)steer_link
subscribe_queue_size: 1
max_update_rate: 60
odomEncSteeringAngleOffset: 0.0
steering_fix_wheel_distance_x: 0.0
steering_fix_wheel_distance_y: 0.0
wheelAcceleration: 0.0
use_abs_encoder: false

steer_drive: tzbot_motor_wheel::SteerMotor
SteerMotor:
  ratio: 171
  node_id: node1
  max_publish_rate: 100
  subscribe_queue_size: 1

traction_drive: tzbot_motor_wheel::TractionMotor
TractionMotor:
  wheel_diameter: 0.210
  ratio: 24.68
  node_id: node2
  max_publish_rate: 100
  subscribe_queue_size: 1