mirror of
https://github.com/YikeStone/ros_arduino_bridge.git
synced 2025-08-03 19:24:09 +05:30
57 lines
1.3 KiB
YAML
57 lines
1.3 KiB
YAML
# For a direct USB cable connection, the port name is typically
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# /dev/ttyACM# where is # is a number such as 0, 1, 2, etc
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# For a wireless connection like XBee, the port is typically
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# /dev/ttyUSB# where # is a number such as 0, 1, 2, etc.
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port: /dev/ttyACM0
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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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# For a robot that uses base_footprint, change base_frame to base_footprint
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base_frame: base_link
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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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#lKp: 10
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#lKd: 12
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#lKi: 0
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#lKo: 50
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#rKp: 10
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#rKd: 12
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#rKi: 0
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#rKo: 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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# * PhidgetsVoltage
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# * PhidgetsCurrent (20 Amp, DC)
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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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