Hello again everyone,
I posted here three weeks ago about a swerve steering controller package. Link to the post Independent (swerve) steering controller.
I finally managed to push the code on a forked repo from ros_control on my GitHub. Link https://github.com/MarkNaeem/ros_controllers/tree/noetic-devel/swerve_steering_controller
There are a lot of features to be added. Up to this point, I have been on my own. Some people just joined and we made a slack.
What I’ll be doing next is the documentation of this controller, and would (not sure yet) write a paper about it.
If there’s any suggestions, tips, modifications, features or anything, don’t hesitate to contact me.