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Hi Gazkune,

I don't found any documentation about the intern algorithms running in the base controller. But you can still take a look at {ROS_STACKS}/pr2_controllers/pr2_mechanism_controller/src/pr2_base_controller.cpp {ROS_STACKS}/pr2_controllers/pr2_mechanism_controller/src/pr2_base_controller2.cpp

In these files you will see two functions: computeDesiredCasterSteer. computeDesiredWheelSpeeds. I think they describe what you are seeking.

Moreover, as far as I can see, this code is not dependent on the number of wheels.

Hope this helps,