# joint_state_broadcaster（发布 joint state）
# diff_drive_controller（订阅 cmd_vel，输出轮子速度命令）

controller_manager:
  ros__parameters:
    update_rate: 50

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    diff_drive_controller:
      type: diff_drive_controller/DiffDriveController

diff_drive_controller:
  ros__parameters:
    left_wheel_names:  ["front_left_wheel_joint", "rear_left_wheel_joint"]
    right_wheel_names: ["front_right_wheel_joint", "rear_right_wheel_joint"]

    wheel_separation: 0.3
    wheel_radius: 0.05

    base_frame_id: base_link
    odom_frame_id: odom
    enable_odom_tf: true

    cmd_vel_timeout: 0.5
    use_stamped_vel: false