Hello everyone! I have made a ros2_controller for omnidirectional robots that are using 3 or more omni wheels.
I have made a PR, submitting this controller into the official repository so that it can have a wider reach, but the maintainers haven’t gotten the time yet to review and test the controller.
It would be really nice if someone from the community could go ahead and review/test the controller.
You can find the kinematics used by the controller in the official docs.
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Does it work for 4 wheel steer?
If you mean a differential drive with four wheels, 2 on each side of the robot, you can use the diff_drive_controller.
I did mean the 4 wheel steering drive (swerve drive). able to control the four wheels steering angle (position) and the velocity