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 (in meters)
  • robotLength (in meters)
  • robotWidth (in meters)