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controllers.yaml 1.27 KB
ackerbot_joint_publisher:

    type: joint_state_controller/JointStateController
    publish_rate: 100
    extra_joints:
      - name: rear_left_wheel_spinning_joint
      - name: rear_right_wheel_spinning_joint

ackerbot_controller:

    type: ackerbot_controllers/AckermannController
    spinning_joints: [front_left_wheel_spinning_joint,front_right_wheel_spinning_joint]
    steering_joints: [front_left_wheel_steering_joint,front_right_wheel_steering_joint]
    odometry_joints: [front_left_wheel_spinning_joint,front_right_wheel_spinning_joint]
    wheelbase: 1.21

    publish_rate: 50
    pose_covariance_diagonal: [0.01, 0.01, 0.01, 0.01, 0.01, 0.3]
    twist_covariance_diagonal: [0.01, 0.01, 0.01, 0.01, 0.01, 0.3]

    odom_frame_id: ipcar/odom
    base_frame_id: ipcar/ipcar_base_footprint
    enable_odom_tf: false

    has_velocity_limits: true
    max_velocity: 4.0
    has_acceleration_limits: true
    max_acceleration: 1.0
    has_deceleration_limits: true
    max_deceleration: 2.0

/gazebo_ros_control:
  pid_gains:
      front_left_wheel_steering_joint:
          p: 1000.0
          i: 0.01
          d: 10.0

      front_right_wheel_steering_joint:
          p: 1000.0
          i: 0.01
          d: 10.0

direction_controller:
    type: direction_controller/DirectionController