2024-09-09 22:18:19 +08:00
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# Controller Manager configuration
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controller_manager:
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ros__parameters:
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update_rate: 200 # Hz
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2024-09-09 22:18:19 +08:00
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use_sim_time: true # If running in simulation
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# Define the available controllers
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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imu_sensor_broadcaster:
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type: imu_sensor_broadcaster/IMUSensorBroadcaster
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imu_sensor_broadcaster:
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ros__parameters:
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sensor_name: "imu_sensor"
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frame_id: "imu_link"
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