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zinger.yaml
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controller_manager:
ros__parameters:
update_rate: 250 # Hz
drive_module_steering_angle_controller:
type: position_controllers/JointGroupPositionController
drive_module_velocity_controller:
type: velocity_controllers/JointGroupVelocityController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
drive_module_steering_angle_controller:
ros__parameters:
joints:
- joint_chassis_to_steering_left_front
- joint_chassis_to_steering_left_rear
- joint_chassis_to_steering_right_rear
- joint_chassis_to_steering_right_front
drive_module_velocity_controller:
ros__parameters:
joints:
- joint_steering_to_wheel_left_front
- joint_steering_to_wheel_left_rear
- joint_steering_to_wheel_right_rear
- joint_steering_to_wheel_right_front