params.yaml

# The distance between the front and
# rear axle of the racecar
wheelbase: 0.325 # meters

# Limits on the speed and steering angle
max_speed: 4. # meters/second
max_steering_angle: 0.34 # radians

# The rate at which the pose and the lidar publish
update_pose_rate: 0.02

# Lidar simulation parameters
scan_beams: 100
scan_field_of_view: 4.71 # radians

# The distance from the center of the
# rear axis (base_link) to the lidar
scan_distance_to_base_link: 0.275 # meters

# The standard deviation of the noise applied
# to the lidar simulation
scan_std_dev: 0.01 # meters

# The probability threshold for points
# in the occupancy grid to be considered "free".
# Used for the lidar simulator.
map_free_threshold: 0.3

# Enables joystick if true
joy: true
joy_speed_axis: 1
joy_angle_axis: 2
joy_max_speed: 2. # meters/second

# The names of topics to listen and publish to
joy_topic: "/joy"
drive_topic: "/drive"
map_topic: "/map"
distance_transform_topic: "/dt"
scan_topic: "/scan"
pose_topic: "/pose"
odom_topic: "/odom"
pose_rviz_topic: "/initialpose"

# The names of the transformation frames published to
map_frame: "map"
base_frame: "base_link"
scan_frame: "laser"

# Turn this off for mapping
broadcast_transform: true

# Noise to add to odometry twist (first 3 are linear, last 3 are angular)
mu_twist: [0., 0., 0., 0. 0., 0.]