.. _neo-kinematics-mecanum: neo_kinematics_mecanum ====================== Summary ------- The neo_kinematics_mecanum 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 mecanum type wheels, such as the MPO-500. neo_kinematics_mecanum_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) :robotLength: ============== ======= Type Default -------------- ------- double 0.5 ============== ======= Description Length of the robot (m) :devX: ============== ======= Type Default -------------- ------- double 0.1 ============== ======= Description Standard deviation in x-direction :devY: ============== ======= Type Default -------------- ------- double 0.1 ============== ======= Description Standard deviation in y-direction :devZ: ============== ======= Type Default -------------- ------- double 0.1 ============== ======= Description Standard deviation in z-direction :devRoll: ============== ======= Type Default -------------- ------- double 0.1 ============== ======= Description Standard deviation in Roll :devPitch: ============== ======= Type Default -------------- ------- double 0.1 ============== ======= Description Standard deviation in Pitch :devYaw: ============== ======= Type Default -------------- ------- double 0.1 ============== ======= Description Standard deviation in Yaw :sendTransform: ============== ======= Type Default -------------- ------- bool false ============== ======= Description whether to send transforms or not