transformation Node for neobotix robots with omnidirectional drive
Neo Platformctrl Mecanum
This package implements the diff mecanum kinematics to control mecanum platforms by [neobotix|neobotix].
Topics to publish/subscribe and configuration parameters
Subscribed Topics/joint_states (sensor_msgs/JointStates)
- gets the jointstates from the drives
- gets the velocity commands.
Published Topics/odom (nav_msgs/Odometry)
- publishes the robots odometry
- publishes the motor trajectory
- chooses the kinematic model to be used.
- the wheelDiameter in meter.
- the robots width in meter.
- the robots length in meter.
- should this node send transformations on /tf? [true, false]