56 lines
2.1 KiB
YAML
Executable File
56 lines
2.1 KiB
YAML
Executable File
# -----------------------------------
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mobile_base_controller:
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type : "steer_drive_controller/SteerDriveController"
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rear_wheel: '$(arg prefix)steer2sd_wheel_joint'
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front_steer: '$(arg prefix)base2steer_joint'
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publish_rate: 41.2 # this is what the real MiR platform publishes (default: 50)
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# These covariances are exactly what the real MiR platform publishes
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pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
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twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
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enable_odom_tf: false
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# Wheel separation and diameter. These are both optional.
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# diff_drive_controller will attempt to read either one or both from the
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# URDF if not specified as a parameter.
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# We don't set the value here because it's different for each MiR type (100, 250, ...), and
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# the plugin figures out the correct values.
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wheel_separation : 1.3268
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wheel_radius : 0.125
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# Wheel separation and radius multipliers
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wheel_separation_multiplier: 1.0 # default: 1.0
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wheel_radius_multiplier : 1.0 # default: 1.0
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# Steer position angle multipliers for fine tuning.
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steer_pos_multiplier : 1.0
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# Velocity commands timeout [s], default 0.5
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cmd_vel_timeout: 0.25
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# frame_ids (same as real MiR platform)
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base_frame_id: $(arg prefix)base_footprint # default: base_link
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odom_frame_id: $(arg prefix)odom # default: odom
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# Velocity and acceleration limits
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# Whenever a min_* is unspecified, default to -max_*
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linear:
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x:
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has_velocity_limits : true
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max_velocity : 1.5 # m/s
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min_velocity : -1.5 # m/s
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has_acceleration_limits: true
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max_acceleration : 3.0 # m/s^2
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min_acceleration : -3.0 # m/s^2
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has_jerk_limits : false
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max_jerk : 5.0 # m/s^3
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angular:
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z:
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has_velocity_limits : true
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max_velocity : 2.0 # rad/s
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min_velocity : -2.0
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has_acceleration_limits: true
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max_acceleration : 1.5 # rad/s^2
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min_acceleration : -1.5
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has_jerk_limits : false
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max_jerk : 2.5 # rad/s^3
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