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