ros_controllers.yaml

# gazebo_ros_control/pid_gains:
#   wheel1_joint: {p: 55.0, i: 25.0, d: 1.0}
#   wheel2_joint: {p: 55.0, i: 25.0, d: 1.0}
#   wheel3_joint: {p: 55.0, i: 25.0, d: 1.0}
#   wheel4_joint: {p: 55.0, i: 25.0, d: 1.0}
#   holder1_joint: {p: 55.0, i: 25.0, d: 1.0}
#   holder2_joint: {p: 55.0, i: 25.0, d: 1.0}
#   holder3_joint: {p: 55.0, i: 25.0, d: 1.0}
#   holder4_joint: {p: 55.0, i: 25.0, d: 1.0}


joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50


swerve_steering_controller:
  type: swerve_steering_controller/SwerveSteeringController
  wheels:  ['Rev4','Rev6','Rev2','Rev8']
  holders: ['Rev3','Rev5','Rev1','Rev7']
  radii:   [0.06, 0.06, 0.06, 0.06] 
  limitless: [false, false, false, false]
  offsets:   [0.0, 0.0, 0.0, 0.0 ]
  positions: [[-0.3,-0.3], [-0.3,0.3], [0.3,-0.3], [0.3,0.3]]
  limits: [[-3.14,3.14], [-3.14,3.14], [-3.14,3.14], [-3.14,3.14]]

  publish_rate: 50

  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]
  
  base_frame_id: base_footprint
  odom_frame_id: odom

  enable_odom_tf: true