# -----------------------------------
mobile_base_controller:
  type        : "steer_drive_controller/SteerDriveController"
  rear_wheel: '$(arg prefix)steer2sd_wheel_joint'
  front_steer: '$(arg prefix)base2steer_joint'
  publish_rate: 41.2               # this is what the real MiR platform publishes (default: 50)
  # These covariances are exactly what the real MiR platform publishes
  pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
  twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
  enable_odom_tf: 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 : 1.3268
  wheel_radius : 0.125

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

  # Steer position angle multipliers for fine tuning.
  steer_pos_multiplier       : 1.0

  # Velocity commands timeout [s], default 0.5
  cmd_vel_timeout: 0.25

  # frame_ids (same as real MiR platform)
  base_frame_id: $(arg prefix)base_footprint # default: base_link
  odom_frame_id: $(arg prefix)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
      min_velocity           : -1.5 # m/s
      has_acceleration_limits: true
      max_acceleration       : 3.0 # m/s^2
      min_acceleration       : -3.0 # m/s^2
      has_jerk_limits        : false
      max_jerk               : 5.0 # m/s^3
  angular:
    z:
      has_velocity_limits    : true
      max_velocity           : 2.0  # rad/s
      min_velocity           : -2.0
      has_acceleration_limits: true
      max_acceleration       : 1.5  # rad/s^2
      min_acceleration       : -1.5
      has_jerk_limits        : false
      max_jerk               : 2.5 # rad/s^3