joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 100 diff_drive_controller: type : "diff_drive_controller/DiffDriveController" left_wheel : 'left_wheel_hinge' right_wheel : 'right_wheel_hinge' publish_rate: 100 enable_odom_tf: false pose_covariance_diagonal : [0.00001, 0.00001, 1000000000000.0, 1000000000000.0, 1000000000000.0, 0.001] twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Wheel separation and radius multipliers wheel_separation_multiplier: 1.0 # default: 1.0 wheel_radius_multiplier : 1.0 # default: 1.0 # Velocity commands timeout [s], default 0.5 cmd_vel_timeout: 1.0 # Base frame_id base_frame_id: base_link # Velocity and acceleration limits # Whenever a min_* is unspecified, default to -max_* linear: x: has_velocity_limits : true max_velocity : 0.8 # m/s min_velocity : -0.8 # m/s has_acceleration_limits: true max_acceleration : 0.8 # m/s^2 min_acceleration : -0.8 # m/s^2 angular: z: has_velocity_limits : true max_velocity : 0.4 # rad/s min_velocity : -0.4 # rad/s has_acceleration_limits: true max_acceleration : 0.3 # rad/s^2 min_acceleration : -0.3 # rad/s^2