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https://github.com/YikeStone/ros_arduino_bridge.git
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40 lines
929 B
YAML
40 lines
929 B
YAML
port: /dev/ttyUSB0
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baud: 57600
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timeout: 0.1
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rate: 50
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sensorstate_rate: 10
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use_base_controller: False
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base_controller_rate: 10
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# === Robot drivetrain parameters
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#wheel_diameter: 0.146
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#wheel_track: 0.2969
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#encoder_resolution: 8384 # from Pololu for 131:1 motors
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#gear_reduction: 1.0
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#motors_reversed: True
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# === PID parameters
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#Kp: 10
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#Kd: 12
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#Ki: 0
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#Ko: 50
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#accel_limit: 1.0
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# === Sensor definitions. Examples only - edit for your robot.
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# Sensor type can be one of the follow (case sensitive!):
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# * Ping
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# * GP2D12
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# * Analog
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# * Digital
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# * PololuMotorCurrent
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sensors: {
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#motor_current_left: {pin: 0, type: PololuMotorCurrent, rate: 5},
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#motor_current_right: {pin: 1, type: PololuMotorCurrent, rate: 5},
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#ir_front_center: {pin: 2, type: GP2D12, rate: 10},
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#sonar_front_center: {pin: 5, type: Ping, rate: 10},
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arduino_led: {pin: 13, type: Digital, rate: 5, direction: output}
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}
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