.. _neo-kinematics-omnidrive:

neo_kinematics_omnidrive
========================

Summary
-------

The neo_kinematics_omnidrive 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 omni-directional drives, such as the MPO-700.

neo_omnidrive_node
------------------

Publishes:

	* /tf
	* /odom
	* /drives/joint_trajectory

Subscribes:

	* /cmd_vel
	* /drives/joint_states

Services:

	* /kinematics_omnidrive/lock_platform  (stop platform from moving)
	* /kinematics_omnidrive/unlock_platform  (allow platform to move again)
	* /kinematics_omnidrive/reset_omni_wheels [0,0,0,0]  (resets the wheels to given steering angles in rad)

neo_omnidrive_socketcan
-----------------------

Publishes:

	* /drives/joint_states

Subscribes:

	* /drives/joint_trajectory
	* /emergency_stop_state
	* /joy

Services:

	* /kinematics_omnidrive/lock_platform  (stop platform from moving)
	* /kinematics_omnidrive/unlock_platform  (allow platform to move again)
	* /kinematics_omnidrive/reset_omni_wheels [0,0,0,0]  (resets the wheels to given steering angles in rad)