This topic is a question about a contribution to ros_control.
I was working on a reconfigurable mobile robot project before and needed to have an N-wheel steering controller. Four_wheel_steering controller wasn’t very useful in this case. So, I made a package that can take any number of wheels with different configurations (position relative to the robot base frame, steering angle limitation, wheel radius) and calculate the required steering angle and angular velocity for this wheel. It takes into consideration the steering limitation and the closest path to the target (whether to get to the target angle or to its supplementary and negate wheel velocity). The configuration can be set through a YAML file and/or from the tf tree (for the wheels’ position).
I have also worked on an odometry node. It still has some singularity issues and still need some work. I came across some papers (like Instantaneous centre of rotation estimation of an omnidirectional mobile robot) and would like to see how they can help.
There is a YouTube video showing a demo:
The question is: Would this work, after all needed preparations, modifications, and tests, add a value to ros_control as a contribution?
I hope one of the ros_control contributors/maintainers family can answer. And Thank you for your time.