29 lines
738 B
YAML
Executable File
29 lines
738 B
YAML
Executable File
commandTopic: $(arg prefix)cmd_vel
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odometryTopic: odom
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odometryFrame: $(arg prefix)odom
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odometryEncTopic: odom_enc
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odometryEncChildFrame: $(arg prefix)odom_enc
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robotBaseFrame: $(arg prefix)base_link
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steerChildFrame: $(arg prefix)steer_link
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subscribe_queue_size: 1
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max_update_rate: 60
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odomEncSteeringAngleOffset: 0.0
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steering_fix_wheel_distance_x: 0.0
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steering_fix_wheel_distance_y: 0.0
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wheelAcceleration: 0.0
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use_abs_encoder: false
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steer_drive: tzbot_motor_wheel::SteerMotor
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SteerMotor:
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ratio: 171
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node_id: node1
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max_publish_rate: 100
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subscribe_queue_size: 1
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traction_drive: tzbot_motor_wheel::TractionMotor
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TractionMotor:
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wheel_diameter: 0.210
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ratio: 24.68
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node_id: node2
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max_publish_rate: 100
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subscribe_queue_size: 1 |