motor_diff_drive.yml

# Ref:
# http://wiki.ros.org/urdf/Tutorials/Using%20a%20URDF%20in%20Gazebo
# http://wiki.ros.org/diff_drive_controller
#

diff_drive_controller:
  type: "diff_drive_controller/DiffDriveController"
  publish_rate: 60 # Hz

  left_wheel: roda_esq_joint
  right_wheel: roda_dir_joint

  wheel_separation: 0.071 # meters

  wheel_radius: 0.025 # meters

  # Odometry covariances for the encoder output of the robot. These values should
  # be tuned to your robot's sample odometry data, but these values are a good place
  # to start
  pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
  twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]

  # Top level frame (link) of the robot description
  base_frame_id: base_link