35 lines
1009 B
YAML
35 lines
1009 B
YAML
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controller_manager:
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ros__parameters:
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update_rate: 100
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ackermann_controller:
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type: ackermann_steering_controller/AckermannSteeringController
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joint_state_broadcaster:
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type: "joint_state_broadcaster/JointStateBroadcaster"
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ackermann_controller:
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ros__parameters:
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position_feedback: false
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# Interfaces
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rear_wheels_names: ["wheel_br_joint", "wheel_bl_joint"]
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front_wheels_names: ["steer_fr_joint", "steer_fl_joint"]
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# Physical parameters
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wheelbase: 0.6 # Distance between front and rear axles [m]
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front_wheel_track: 0.4 # Distance between front wheels [m]
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rear_wheel_track: 0.5 # Distance between rear wheels [m]
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front_wheels_radius: 0.15 # Radius of wheels [m]
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rear_wheels_radius: 0.15 # Radius of wheels [m]
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# Limits
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max_steering_angle: 1.0 # [rad] ~45 degrees
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max_speed: 10.0 # [m/s]
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min_speed: -5.0 # [m/s]
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# Frame config
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reference_frame: base_link
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