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: 45 lKd: 0 lKi: 5 lKo: 3 rKp: 45 rKd: 0 rKi: 5 rKo: 3 #accel_limit: 0.1