Hi guys,

I wanted to ask you some questions. I want to control independently each heels of my robot. Different control exists and I choose the omnicontrol one. But what I want is to published a velocity only for 1 wheel. Different cmdvel exists with that config but I don't really know how to publish inside them and in which one. Is someone encounter this issue ?

Here is the topics that I have :

/clock
/diagnostics
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/rosout
/rosout_agg
/summit_xl_a/cmd_vel
/summit_xl_a/docker/cmd_vel
/summit_xl_a/fix
/summit_xl_a/fix/position/parameter_descriptions
/summit_xl_a/fix/position/parameter_updates
/summit_xl_a/fix/status/parameter_descriptions
/summit_xl_a/fix/status/parameter_updates
/summit_xl_a/fix/velocity/parameter_descriptions
/summit_xl_a/fix/velocity/parameter_updates
/summit_xl_a/fix_velocity
/summit_xl_a/front_laser/scan
/summit_xl_a/imu/data
/summit_xl_a/imu/data/accel/parameter_descriptions
/summit_xl_a/imu/data/accel/parameter_updates
/summit_xl_a/imu/data/bias
/summit_xl_a/imu/data/rate/parameter_descriptions
/summit_xl_a/imu/data/rate/parameter_updates
/summit_xl_a/imu/data/yaw/parameter_descriptions
/summit_xl_a/imu/data/yaw/parameter_updates
/summit_xl_a/initialpose
/summit_xl_a/joint_states
/summit_xl_a/map
/summit_xl_a/map_updates
/summit_xl_a/move/cmd_vel
/summit_xl_a/move_base/cmd_vel
/summit_xl_a/move_base_simple/goal
/summit_xl_a/pad_teleop/cmd_vel
/summit_xl_a/particlecloud
/summit_xl_a/robotnik_base_control/cmd_vel
/summit_xl_a/robotnik_base_control/odom
/summit_xl_a/robotnik_base_hw/emergency_stop
/summit_xl_a/twist_marker
/tf
/tf_static

I work with the simulation of the summit XL. When I launch I activate the omni_drive mode :

roslaunch summit_xl_sim_bringup summit_xl_complete.launch omni_drive:=true

Like this it can load the right config for each wheels. Thank you for your help.

N.B. : I work with ROS Kinetic. I've deleted the cameras topics.