mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 03:15:01 +08:00
37 lines
844 B
YAML
37 lines
844 B
YAML
# Publish all joint states -----------------------------------
|
|
scout_state_controller:
|
|
type: joint_state_controller/JointStateController
|
|
publish_rate: 50
|
|
|
|
# Joint velocity controllers ---------------------------------
|
|
scout_motor_fr_controller:
|
|
type: velocity_controllers/JointVelocityController
|
|
joint: front_right_wheel
|
|
pid:
|
|
p: 5.0
|
|
i: 20.0
|
|
i_clamp: 100.0
|
|
|
|
scout_motor_fl_controller:
|
|
type: velocity_controllers/JointVelocityController
|
|
joint: front_left_wheel
|
|
pid:
|
|
p: 5.0
|
|
i: 20.0
|
|
i_clamp: 100.0
|
|
|
|
scout_motor_rl_controller:
|
|
type: velocity_controllers/JointVelocityController
|
|
joint: rear_left_wheel
|
|
pid:
|
|
p: 5.0
|
|
i: 20.0
|
|
i_clamp: 100.0
|
|
|
|
scout_motor_rr_controller:
|
|
type: velocity_controllers/JointVelocityController
|
|
joint: rear_right_wheel
|
|
pid:
|
|
p: 5.0
|
|
i: 20.0
|
|
i_clamp: 100.0 |