Control Files

<?xml version="1.0" encoding="UTF-8"?>

<launch>

  <!-- Load joint controller configurations from YAML file to parameter server -->

  <rosparam file="$(find lawnmow_control)/config/lawnmow_control.yaml" command="load"/>

  <!-- load the controllers -->

  <node name="controller_spawner"

    pkg="controller_manager"

    type="spawner" respawn="false"

    output="screen" ns="/lawnmow"

    args="joint_state_controller

      mobile_base_controller"

  />

  <!-- convert joint states to TF transforms for rviz, etc -->

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" respawn="false" output="screen">

    <param name="robot_description" command="$(find xacro)/xacro.py '$(find lawnmow_description)/urdf/lawnmow.xacro'"/>

    <remap from="/joint_states" to="/lawnmow/joint_states" />

  </node>

</launch>

lawnmow:

  # Publish all joint states -----------------------------------

  joint_state_controller:

    type: joint_state_controller/JointStateController

    publish_rate: 50  

  mobile_base_controller:

    type: "diff_drive_controller/DiffDriveController"

    left_wheel: 'left_wheel_hinge'

    right_wheel: 'right_wheel_hinge'

    pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]

    twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]