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Probably to late,

but I just found Linorobot as I was looking to switch from diff drive controller to 4wd.

Linorobot is a suite of Open Source ROS compatible robots that aims to provide students, developers, and researchers a low-cost platform in creating new exciting applications on top of ROS.

Supports multiple types of robot base:

2WD 4WD Ackermann Steering Mecanum drive

https://github.com/linorobot/linorobot

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