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

  mobile_base_controller:
    type: "diff_drive_controller/DiffDriveController"
    left_wheel: 'left_wheel_hinge'
    right_wheel: 'right_wheel_hinge'
    pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
    twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]

