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37 lines
844 B
YAML
37 lines
844 B
YAML
# Publish all joint states -----------------------------------
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scout_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 50
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# Joint velocity controllers ---------------------------------
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scout_motor_fr_controller:
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type: velocity_controllers/JointVelocityController
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joint: front_right_wheel
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pid:
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p: 5.0
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i: 20.0
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i_clamp: 100.0
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scout_motor_fl_controller:
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type: velocity_controllers/JointVelocityController
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joint: front_left_wheel
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pid:
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p: 5.0
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i: 20.0
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i_clamp: 100.0
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scout_motor_rl_controller:
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type: velocity_controllers/JointVelocityController
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joint: rear_left_wheel
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pid:
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p: 5.0
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i: 20.0
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i_clamp: 100.0
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scout_motor_rr_controller:
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type: velocity_controllers/JointVelocityController
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joint: rear_right_wheel
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pid:
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p: 5.0
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i: 20.0
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i_clamp: 100.0 |