vesc_can_driver:
  ros__parameters:
    interface: can0
    bitrate: 500000
    left_motor_id: 56
    right_motor_id: 68
    wheel_separation: 0.5
    wheel_radius: 0.1
    max_speed: 5.0
    command_timeout: 1.0

velocity_smoother:
  ros__parameters:
    publish_rate: 50.0
    max_linear_accel: 1.0
    max_linear_decel: 2.0
    max_angular_accel: 1.5
    max_angular_decel: 3.0
    max_linear_jerk: 0.0
    max_angular_jerk: 0.0
