port: /dev/ttyUSB0
baud: 57600
timeout: 0.1

rate: 100

use_base_controller: True
base_controller_rate: 50

# For a robot that uses base_footprint, change base_frame to base_footprint
base_frame: base_link
camera_frame: camera_depth_frame
# === Robot drivetrain parameters
wheel_diameter: 0.0703464848466
wheel_track: 0.22
encoder_resolution: 240 # from Pololu for 131:1 motors
motors_reversed: False
gear_reduction: 1.0
# === PID parameters
lKp: 50
lKd: 10
lKi: 0
lKo: 20
rKp: 50
rKd: 10
rKi: 0
rKo: 20

#accel_limit: 0.1