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- port: /dev/ttyUSB0
- baud: 115200
- rate: 20
- sync_write: True
- sync_read: True
- read_rate: 20
- write_rate: 20
- controllers: {
- # Pololu motors: 1856 cpr = 0.3888105m travel = 4773 ticks per meter (empirical: 4100)
- base_controller: {type: diff_controller, base_frame_id: base_footprint, base_width: 0.26, ticks_meter: 4100, Kp: 12, Kd: 12, Ki: 0, Ko: 50, accel_limit: 1.0 }
- }
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