omni_wheel_controller:
  omni_wheel_names: {
    type: string_array,
    default_value: [],
    description: "Link names of the omni wheels",
  }
  omni_wheel_angle: {
    type: double_array,
    default_value: [],
    description: "Directions of omni wheels [rad]",
  }
  omni_wheel_distance: {
    type: double,
    default_value: 0.0,
    description: "Distance between omni wheel and center of robot",
  }
  wheel_radius: {
    type: double,
    default_value: 0.0,
    description: "Radius of a wheel, i.e., wheels size, used for transformation of linear velocity into wheel rotations. If this parameter is wrong the robot will move faster or slower then expected.",
  }
  tf_frame_prefix_enable: {
    type: bool,
    default_value: true,
    description:  "Enables or disables appending tf_prefix to tf frame id's.",
  }
  tf_frame_prefix: {
    type: string,
    default_value: "",
    description:  "(optional) Prefix to be appended to the tf frames, will be added to odom_id and base_frame_id before publishing. If the parameter is empty, controller's namespace will be used.",
  }
  odom_frame_id: {
    type: string,
    default_value: "odom",
    description:  "Name of the frame for odometry. This frame is parent of ``base_frame_id`` when controller publishes odometry.",
  }
  base_frame_id: {
    type: string,
    default_value: "base_link",
    description: "Name of the robot's base frame that is child of the odometry frame.",
  }
  pose_covariance_diagonal: {
    type: double_array,
    default_value: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    description: "Odometry covariance for the encoder output of the robot for the pose. These values should be tuned to your robot's sample odometry data, but these values are a good place to start: ``[0.001, 0.001, 0.001, 0.001, 0.001, 0.01]``.",
  }
  twist_covariance_diagonal: {
    type: double_array,
    default_value: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    description: "Odometry covariance for the encoder output of the robot for the speed. These values should be tuned to your robot's sample odometry data, but these values are a good place to start: ``[0.001, 0.001, 0.001, 0.001, 0.001, 0.01]``.",
  }
  open_loop: {
    type: bool,
    default_value: false,
    description: "If set to true the odometry of the robot will be calculated from the commanded values and not from feedback.",
  }
  position_feedback: {
    type: bool,
    default_value: true,
    description: "Is there position feedback from hardware.",
  }
  enable_odom_tf: {
    type: bool,
    default_value: true,
    description: "Publish transformation between ``odom_frame_id`` and ``base_frame_id``.",
  }
  cmd_vel_timeout: {
    type: double,
    default_value: 0.5, # seconds
    description: "Timeout after which input command on ``cmd_vel`` topic is considered staled.",
  }
  publish_limited_velocity: {
    type: bool,
    default_value: false,
    description: "Publish limited velocity value.",
  }
  velocity_rolling_window_size: {
    type: int,
    default_value: 10,
    description: "Size of the rolling window for calculation of mean velocity use in odometry.",
  }
  use_stamped_vel: {
    type: bool,
    default_value: true,
    description: "Use stamp from input velocity message to calculate how old the command actually is.",
  }
  publish_rate: {
    type: double,
    default_value: 50.0, # Hz
    description: "Publishing rate (Hz) of the odometry and TF messages.",
  }
  linear:
    x:
      has_velocity_limits: {
        type: bool,
        default_value: false,
      }
      has_acceleration_limits: {
        type: bool,
        default_value: false,
      }
      has_jerk_limits: {
        type: bool,
        default_value: false,
      }
      max_velocity: {
        type: double,
        default_value: .NAN,
      }
      min_velocity: {
        type: double,
        default_value: .NAN,
      }
      max_acceleration: {
        type: double,
        default_value: .NAN,
      }
      min_acceleration: {
        type: double,
        default_value: .NAN,
      }
      max_jerk: {
        type: double,
        default_value: .NAN,
      }
      min_jerk: {
        type: double,
        default_value: .NAN,
      }
  angular:
    z:
      has_velocity_limits: {
        type: bool,
        default_value: false,
      }
      has_acceleration_limits: {
        type: bool,
        default_value: false,
      }
      has_jerk_limits: {
        type: bool,
        default_value: false,
      }
      max_velocity: {
        type: double,
        default_value: .NAN,
      }
      min_velocity: {
        type: double,
        default_value: .NAN,
      }
      max_acceleration: {
        type: double,
        default_value: .NAN,
      }
      min_acceleration: {
        type: double,
        default_value: .NAN,
      }
      max_jerk: {
        type: double,
        default_value: .NAN,
      }
      min_jerk: {
        type: double,
        default_value: .NAN,
      }