andino_controllers.yaml

controller_manager:
  ros__parameters:
    update_rate: 50  # Hz

    diff_controller:
      type: diff_drive_controller/DiffDriveController

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

diff_controller:
  ros__parameters:
    # See https://github.com/ros-controls/ros2_controllers/blob/humble/diff_drive_controller/src/diff_drive_controller_parameter.yaml
    publish_rate: 50.0
    left_wheel_names: ['left_wheel_joint']
    right_wheel_names: ['right_wheel_joint']
    wheels_per_side: 1
    wheel_separation: 0.137
    wheel_radius: 0.035
    odom_frame_id: odom
    base_frame_id: base_link
    enable_odom_tf: true
    use_stamped_vel: false

    linear.x.has_velocity_limits: false
    linear.x.has_acceleration_limits: false
    linear.x.has_jerk_limits: false
    linear.x.max_velocity: 0.0
    linear.x.min_velocity: 0.0
    linear.x.max_acceleration: 0.0
    linear.x.min_acceleration: 0.0
    linear.x.max_jerk: 0.0
    linear.x.min_jerk: 0.0

    angular.z.has_velocity_limits: false
    angular.z.has_acceleration_limits: false
    angular.z.has_jerk_limits: false
    angular.z.max_velocity: 0.0
    angular.z.min_velocity: 0.0
    angular.z.max_acceleration: 0.0
    angular.z.min_acceleration: 0.0
    angular.z.max_jerk: 0.0
    angular.z.min_jerk: 0.0

# Commented out as no parameters are passed to this controller:
#
# joint_state_broadcaster:
#   ros__parameters: