27 lines
727 B
YAML
27 lines
727 B
YAML
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# joint_state_broadcaster（发布 joint state）
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# diff_drive_controller（订阅 cmd_vel，输出轮子速度命令）
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controller_manager:
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ros__parameters:
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update_rate: 50
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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diff_drive_controller:
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type: diff_drive_controller/DiffDriveController
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diff_drive_controller:
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ros__parameters:
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left_wheel_names: ["front_left_wheel_joint", "rear_left_wheel_joint"]
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right_wheel_names: ["front_right_wheel_joint", "rear_right_wheel_joint"]
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wheel_separation: 0.3
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wheel_radius: 0.05
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base_frame_id: base_link
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odom_frame_id: odom
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enable_odom_tf: true
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cmd_vel_timeout: 0.5
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use_stamped_vel: false
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