9 lines
500 B
YAML
Executable File
9 lines
500 B
YAML
Executable File
skidsteerbot_controller:
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type: "diff_drive_controller/DiffDriveController"
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left_wheel: ['wheel_0_joint', 'wheel_1_joint', 'wheel_2_joint']
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right_wheel: ['wheel_3_joint', 'wheel_4_joint', 'wheel_5_joint']
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publish_rate: 50.0 # defaults to 50
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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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cmd_vel_timeout: 20.0 # we test this separately, give plenty for the other tests
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