
controller_manager:
  ros__parameters:
    update_rate: 100
    # use_sim_time: true

    mecanum_controller:
      type: "mecanum_drive_controller/MecanumDriveController"

    joint_state_broadcaster:
      type: "joint_state_broadcaster/JointStateBroadcaster"


mecanum_controller:
  ros__parameters:

    front_left_wheel_command_joint_name: "wheel_fl_joint"
    front_right_wheel_command_joint_name: "wheel_fr_joint"
    rear_left_wheel_command_joint_name: "wheel_bl_joint"
    rear_right_wheel_command_joint_name: "wheel_br_joint"

    kinematics:
      base_frame_offset: { x: 0.0, y: 0.0, theta: 0.0 }
      wheels_radius: 0.4
      sum_of_robot_center_projection_on_X_Y_axis: 1.0

    base_frame_id: "base_link"
    odom_frame_id: "map"
    enable_odom_tf: false
    twist_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
    pose_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
    use_sim_time: True
