.. _neo-kinematics-differential:

neo_kinematics_differential
===========================

Summary
-------

The neo_kinematics_differential package provides a means to translate platform control values into individual motor commands, as well as computing the platform's odometry from its motor encoders.

It is intended to be used for mobile platforms with differential type drive, such as the MP-400.

neo_kinematics_differential_node
--------------------------------

Publishes:

	* /tf
	* /odom
	* /drives/joint_trajectory

Subscribes:

	* /cmd_vel
	* /drives/joint_states

Parameters
----------

:wheelDiameter:
  ============== =======
  Type           Default
  -------------- -------
  double         0.3
  ============== =======

  Description
   Diameter of the wheel (m)

:robotWidth:

  ============== =======
  Type           Default
  -------------- -------
  double         0.5
  ============== =======

  Description
   Width of the robot (m)

Additional parameters for ROS 2
-------------------------------

:odomFrame:

  ============== =======
  Type           Default
  -------------- -------
  std::string    "odom"
  ============== =======

  Description
   Frame id for odometery, for using it with namespace add a trailing "/".

:robotBaseFrame:

  ============== ============
  Type           Default
  -------------- ------------
  std::string    "base_link"
  ============== ============

  Description
    Frame id for robot's base_link, for using it with namespace add a trailing "/".