ros2_controllers/tricycle_controller/src/tricycle_controller_parameter.yaml at d8d35c5afde6f3b6c6f1afdaf8b4ab835b16eb77 · ros-controls/ros2_controllers · GitHub

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tricycle_controller:
  traction_joint_name: {
    type: string,
    default_value: "",
    description: "Name of the traction joint",
    validation: {
      not_empty<>: []
    }
  }
  steering_joint_name: {
    type: string,
    default_value: "",
    description: "Name of the steering joint",
    validation: {
      not_empty<>: []
    }
  }
  wheelbase: {
    type: double,
    default_value: 0.0,
    description: "Shortest distance between the front wheel and the rear axle. If this parameter is wrong, the robot will not behave correctly in curves.",
    validation: {
      gt<>: [0.0]
    }
  }
  wheel_radius: {
    type: double,
    default_value: 0.0,
    description: "Radius of a wheel, i.e., wheels size, used for transformation of linear velocity into wheel rotations. If this parameter is wrong the robot will move faster or slower then expected.",
    validation: {
      gt<>: [0.0]
    }
  }
  odom_frame_id: {
    type: string,
    default_value: "odom",
    description:  "Name of the frame for odometry. This frame is parent of ``base_frame_id`` when controller publishes odometry.",
  }
  base_frame_id: {
    type: string,
    default_value: "base_link",
    description: "Name of the robot's base frame that is child of the odometry frame.",
  }
  pose_covariance_diagonal: {
    type: double_array,
    default_value: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    description: "Odometry covariance for the encoder output of the robot for the pose. These values should be tuned to your robot's sample odometry data, but these values are a good place to start: ``[0.001, 0.001, 0.001, 0.001, 0.001, 0.01]``.",
  }
  twist_covariance_diagonal: {
    type: double_array,
    default_value: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    description: "Odometry covariance for the encoder output of the robot for the speed. These values should be tuned to your robot's sample odometry data, but these values are a good place to start: ``[0.001, 0.001, 0.001, 0.001, 0.001, 0.01]``.",
  }
  open_loop: {
    type: bool,
    default_value: false,
    description: "If set to true the odometry of the robot will be calculated from the commanded values and not from feedback.",
  }
  enable_odom_tf: {
    type: bool,
    default_value: false,
    description: "Publish transformation between ``odom_frame_id`` and ``base_frame_id``.",
  }
  odom_only_twist: {
    type: bool,
    default_value: false,
    description: "for doing the pose integration in separate node.",
  }
  cmd_vel_timeout: {
    type: double,
    default_value: 0.5, # seconds
    description: "Timeout in seconds, after which input command on ``cmd_vel`` topic is considered staled.",
  }
  publish_ackermann_command: {
    type: bool,
    default_value: false,
    description: "Publish limited commands.",
  }
  velocity_rolling_window_size: {
    type: int,
    default_value: 10,
    description: "Size of the rolling window for calculation of mean velocity use in odometry.",
    validation: {
      gt<>: [0]
    }
  }
  traction:
    # "The positive limit will be applied to both directions. Setting different limits for positive "
    # "and negative directions is not supported. Actuators are "
    # "assumed to have the same constraints in both directions"
    max_velocity: {
      type: double,
      default_value: .NAN,
    }
    min_velocity: {
      type: double,
      default_value: .NAN,
    }
    max_acceleration: {
      type: double,
      default_value: .NAN,
    }
    min_acceleration: {
      type: double,
      default_value: .NAN,
    }
    max_deceleration: {
      type: double,
      default_value: .NAN,
    }
    min_deceleration: {
      type: double,
      default_value: .NAN,
    }
    max_jerk: {
      type: double,
      default_value: .NAN,
    }
    min_jerk: {
      type: double,
      default_value: .NAN,
    }
  steering:
    # "The positive limit will be applied to both directions. Setting different limits for positive "
    # "and negative directions is not supported. Actuators are "
    # "assumed to have the same constraints in both directions"
    max_position: {
      type: double,
      default_value: .NAN,
    }
    min_position: {
      type: double,
      default_value: .NAN,
    }
    max_velocity: {
      type: double,
      default_value: .NAN,
    }
    min_velocity: {
      type: double,
      default_value: .NAN,
    }
    max_acceleration: {
      type: double,
      default_value: .NAN,
    }
    min_acceleration: {
      type: double,
      default_value: .NAN,
    }