git commit -m "first commit for v2"

Devices/Packages/ros_kinematics/config/ros_diff_drive_controller.yaml

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+# -----------------------------------
+left_wheel  : 'left_wheel_joint'
+right_wheel : 'right_wheel_joint'
+publish_rate: 60              # 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: false
+# 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 : 0.445208
+wheel_radius : 0.0625
+
+# 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: 0.5
+
+# 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       : 2.0  # m/s^2; move_base acc_lim_x: 1.5
+    min_acceleration       : -2.0 # m/s^2
+    has_jerk_limits        : true
+    max_jerk               : 3.0  # m/s^3
+angular:
+  z:
+    has_velocity_limits    : true
+    max_velocity           : 2.0  # rad/s; move_base max_rot_vel: 1.0
+    has_acceleration_limits: true
+    max_acceleration       : 1.5 # 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
+  wheel_topic: left_wheel
+  subscribe_queue_size: 1
+  command_timeout: 5.0
+
+right_wheel_joint:  
+  lookup_name: WheelPlugin
+  max_publish_rate: 50
+  mesurement_topic: right_encoder
+  wheel_topic: right_wheel
+  subscribe_queue_size: 1
+  command_timeout: 5.0

Devices/Packages/ros_kinematics/config/ros_steer_drive.yaml

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+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