6_wheel_config.yaml

 # Publish all joint states -----------------------------------
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50

# Velocity Controllers -----------------------------------------
robile_1_left_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_1_drive_left_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}
robile_1_right_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_1_drive_right_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}


robile_3_left_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_3_drive_left_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}
robile_3_right_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_3_drive_right_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}


robile_7_left_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_7_drive_left_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}
robile_7_right_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_7_drive_right_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}


robile_9_left_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_9_drive_left_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}
robile_9_right_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_9_drive_right_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}


robile_13_left_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_13_drive_left_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}
robile_13_right_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_13_drive_right_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}


robile_15_left_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_15_drive_left_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}
robile_15_right_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_15_drive_right_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}