repository: git://github.com/neobotix/neo_driver Only released in EOL distros:   indigo

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

/cmd_vel (geometry_msgs/Twist)

• gets the velocity commands.

Published Topics

/odom (nav_msgs/Odometry)

• publishes the robots odometry

/cmd_joint_traj (trajectory_msgs/JointTrajectory)

• publishes the motor trajectory

Parameters

kinematics ()

• chooses the kinematic model to be used.

wheelDiameter ()

• the wheelDiameter in meter.

robotWidth ()

• the robots width in meter.

robotLength ()

• the robots length in meter.

sendTransform ()

• should this node send transformations on /tf? [true, false]