Omni-direction cmd_vel to motors speed callback
Hello,
I recently 3d printed some mecanum wheels and now i'm waiting for stepper motors.
My question is how to get the speed from the Twist message (linear.x , linear.y, angular.z) provided by move_base and transform into appropriate motor speeds. The setup is the normal square one (the extended lines from the rollers need to converge on the centre of the robot)
Thank you!!!
You put omni-wheel in the tags. But you mean mecanum-wheel, right?
yes sorry about that!