mecanum_drive_plugin

the mecanum drive plugin is a gazebo controller for controlling mecanum robots with 4 wheels (for example the mpo 500).

Usage/Examples

<gazebo>
  <controller:mecanum_drive_plugin name="mecanum_drive_controller" plugin="libmecanum_plugin.so">
    <alwaysOn>true</alwaysOn>
    <update>100</update>
    <updateRate>100.0</updateRate>
    <frontLeftJoint>wheel_front_left_joint</frontLeftJoint>
    <frontRightJoint>wheel_front_right_joint</frontRightJoint>
    <backLeftJoint>wheel_back_left_joint</backLeftJoint>
    <backRightJoint>wheel_back_right_joint</backRightJoint>
    <robotWidth>0.27</robotWidth>   <!--total robot width: 0.54 m-->
    <robotLength>0.25</robotLength> <!--total robot length: 0.50 m-->
    <wheelDiameter>0.26</wheelDiameter>
    <torque>5</torque>
    <interface:position name="position_iface_0"/>
    <topicName>cmd_vel</topicName>
  </controller:mecanum_drive_plugin>
</gazebo>