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ros node for mecanum/omniwheel steering

asked 2012-06-22 05:21:08 -0600

Intellethan
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Is there a ros node configured to drive a robot with an omniwheel setup? I'd like to import such a node and use it to simulate and test a robot with that type of wheel configuration.

Thanks, -Ethan

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answered 2012-07-23 22:47:41 -0600

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

The PR2 navigation systems should work relatively well with mechanum wheels. You will need to write the low level driver to convert the /cmd_vel into velocity commands for your motors, which is specific to your geometry.

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Asked: 2012-06-22 05:21:08 -0600

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Last updated: Jul 23 '12

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ros node for mecanum/omniwheel steering