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git commit -m "first commit"

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HiepLM
2026-05-28 10:29:58 +07:00
commit 167c52aeb6
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mir_robot/diff_drive_controller/test/skidsteerbot_controllers.yaml Executable file
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skidsteerbot_controller:
type: "diff_drive_controller/DiffDriveController"
left_wheel: ['wheel_0_joint', 'wheel_1_joint', 'wheel_2_joint']
right_wheel: ['wheel_3_joint', 'wheel_4_joint', 'wheel_5_joint']
publish_rate: 50.0 # defaults to 50
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]
cmd_vel_timeout: 20.0 # we test this separately, give plenty for the other tests