controller_manager:
  ros__parameters:
    update_rate: 100
    use_sim_time: true

    diff_controller:
      type: diff_drive_controller/DiffDriveController

    joint_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

diff_controller: 
  ros__parameters:
    left_wheel_names: ["bl_wheel_joint", "fl_wheel_joint"]
    right_wheel_names: ["br_wheel_joint", "fr_wheel_joint"]

    wheel_separation: 0.836  # TODO: fix
    wheels_per_side: 2
    wheel_radius: 0.171

    base_frame_id: "base_link"
    pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
    twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]

    position_feedback: true
    open_loop: false
    enable_odom_tf: true

    cmd_vel_timeout: 0.5
    publish_limited_velocity: false

    use_stamped_vel: false
    publish_rate: 100.0

    # TODO: add reasonable velocity and acceleration limits
