controller
创建一个pkg,在pkg中新建一个controller.yaml。
点击查看代码
controller_manager:ros__parameters:update_rate: 50joint_state_broadcaster:type: joint_state_broadcaster/JointStateBroadcasterdiff_drive_controller:type: diff_drive_controller/DiffDriveControllerdiff_drive_controller:ros__parameters:left_wheel_names: ["base_left_wheel_joint"]right_wheel_names: ["base_right_wheel_joint"]wheel_separation: 0.45wheel_radius: 0.1odom_frame_id: "odom"base_frame_id: "base_footprint"pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]enable_odom_tf: truepublish_rate: 50.0linear.x.max_velocity: 1.0linear.x.min_velocity: -1.0angular.z.max_velocity: 1.0angular.z.min_velocity: -1.0