To add on, the ROS-Kinematics implementation of MPO-700 can be found here in the Github
Maybe it is helpful in someway!
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Yes it is like that robot.
@Rud_Merriam, yes, it would be possible to convert velocity to torque, provided you have the model of the system. The model would provide you with the necessary torque for the given velocity set-point which could be potentially used as a Feedforward term. Also we need a feedback controller that would be the velocity from the odometry for compensating the error happening in the velocity level. This entire process would be possible provided, you have access to the current interface of your motor.