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Update bicycle demo to use changed parameters #715

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Update bicycle demo to use changed parameters #715

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13 changes: 7 additions & 6 deletions example_11/bringup/config/carlikebot_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,18 +9,19 @@ controller_manager:
bicycle_steering_controller:
ros__parameters:
type: bicycle_steering_controller/BicycleSteeringController

traction_joints_names: ['virtual_rear_wheel_joint']
steering_joints_names: ['virtual_front_wheel_joint']
wheelbase: 0.325
front_wheel_radius: 0.05
rear_wheel_radius: 0.05
front_steering: true
traction_wheel_radius: 0.05

reference_timeout: 2.0
rear_wheels_names: ['virtual_rear_wheel_joint']
front_wheels_names: ['virtual_front_wheel_joint']

open_loop: false
position_feedback: false
velocity_rolling_window_size: 10
base_frame_id: base_link
odom_frame_id: odom
enable_odom_tf: true
twist_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
pose_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
position_feedback: false
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