//如果要直接复制使用,请删除注释
# For a direct USB cable connection, the port name is typically
# /dev/ttyACM# where is # is a number such as 0, 1, 2, etc
# For a wireless connection like XBee, the port is typically
# /dev/ttyUSB# where # is a number such as 0, 1, 2, etc.
port: /dev/ttyACM0 //arduino端口
baud: 57600 //波特率
timeout: 0.1 //超时时间
rate: 50
#sensorstate_rate: 10
use_base_controller: True //是否使用base_controller
base_controller_rate: 10 //base_controller控制频率
# For a robot that uses base_footprint, change base_frame to base_footprint
//base_link:机器人本体坐标系,与机器人中心重合,当然有些机器人(PR 2)是base_footprint,其实是一个意思。
base_frame: base_link
# === Robot drivetrain parameters
wheel_diameter: 0.0973 //车轮直径
wheel_track: 0.292 //两轮间距
encoder_resolution: 1322 # from Pololu for 30:1 motors
//编码器码盘一圈的脉冲数,可以用arduino的串口输入E获得 这里我的电机是有减速的
//但是我图方便,没有计算减速比,直接记录车轮转一圈的脉冲数
gear_reduction: 1 //减速比
motors_reversed: True //电机是否允许反向
# === PID parameters//PID参数
lKp: 25
lKd: 12
lKi: 0
lKo: 55
rKp: 25
rKd: 12
rKi: 5
rKo: 55
accel_