4_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_2_left_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_2_drive_left_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}
robile_2_right_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_2_drive_right_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}


robile_5_left_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_5_drive_left_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}
robile_5_right_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_5_drive_right_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}


robile_6_left_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_6_drive_left_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}
robile_6_right_hub_wheel_controller:
  type: effort_controllers/JointVelocityController
  joint: robile_6_drive_right_hub_wheel_joint
  pid: {p: 100.0, i: 10.0, d: 0.01}