controller_manager:
  ros__parameters:
    update_rate: 100

    ackermann_controller:
      type: ackermann_steering_controller/AckermannSteeringController
  
    joint_state_broadcaster:
        type: "joint_state_broadcaster/JointStateBroadcaster"


ackermann_controller:  
  ros__parameters:
    position_feedback: false

    # Interfaces
    rear_wheels_names: ["wheel_br_joint", "wheel_bl_joint"]
    front_wheels_names:  ["steer_fr_joint", "steer_fl_joint"]

    # Physical parameters
    wheelbase: 0.6                # Distance between front and rear axles [m]
    front_wheel_track: 0.4        # Distance between front wheels [m]
    rear_wheel_track: 0.5         # Distance between rear wheels [m]
    front_wheels_radius: 0.15  # Radius of wheels [m]
    rear_wheels_radius: 0.15  # Radius of wheels [m]

    # Limits
    max_steering_angle: 1.0  # [rad] ~45 degrees
    max_speed: 10.0            # [m/s]
    min_speed: -5.0            # [m/s]

    # Frame config
    reference_frame: base_link