51cfb266-ea72-47a5-b4c5-8f3b4649e5f5-image.png controller_manager:
ros__parameters:
update_rate: 100 # Hz
use_sim_time: true
fishbot_joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
use_sim_time: true
update_rate: 50
rear_wheels_velocity_controller:
type: ackermann_steering_controller/AckermannSteeringController
# left_wheel: "lbj" # 后左轮关节名
# right_wheel: "rbj" # 后右轮关节名
# left_steering: "lftj" # 前轮转向关节
# right_steering: "rftj"
#front_steering_joints: ["lftj", "rftj"] # 必须匹配 URDF
rear_wheel_joints: ["rbj", "lbj"]
front_wheel_joints: ["rfj", "lfj"]
wheelbase: 0.63 # 前后轮轴距(米)
wheel_radius: 0.075
wheel_separation: 0.88 # 左右轮距(米)
max_steer_angle: 0.52
cmd_vel_topic: "/cmd_vel" # 订阅的cmd_vel话题
odom_topic: "/odom" # 发布的里程计话题
odom_frame_id: odom
base_frame_id: base_footprint
pose_covariance_diagonal: [0.001, 0.001, 0.0, 0.0, 0.0, 0.01]
twist_covariance_diagonal: [0.001, 0.0, 0.0, 0.0, 0.0, 0.01]
enable_odom_tf: true # 启用odom到base_link的TF变换
cmd_vel_timeout: 0.5 # 指令超时时间(秒)
publish_rate: 50.0 # 发布频率(Hz)
use_stamped_vel: false # 不使用时间戳速度指令
open_loop: true
# 前轮转向控制器(位置控制)
fishbot_front_wheels_position_controller:
type: position_controllers/JointGroupPositionController
fishbot_front_wheels_position_controller:
ros__parameters:
joints:
["lftj","rftj"]
command_interfaces: ["position"]
state_interfaces: ["position"]