Support mecanum drive

[mqcmd196]

Supporting mecanum drive in kxr with wheels. Cc: @a-ichikura

[mqcmd196]

TODO: send mecanum drive controller's PR to https://github.com/ros-controls/ros_controllers

[mqcmd196]

@iory
I confirmed that the patch works on @a-ichikura 's robot.
BTW, this PR's cmd_vel namespace is ridgeback_control, and it should be fixed. What is the appropriate name? I think /cmd_vel is better

[iory]

Could you upload video?
/cmd_vel is fine.

[mqcmd196]

Could you upload video?

@a-ichikura Can you paste the `/cmd_vel` command content and take a video? /cmd_vel is fine. Ok. I'll fix it and test it on the real robot. 2024年12月2日(月) 17:46 Iori Yanokura ***@***.***>:

…

Could you upload video? /cmd_vel is fine. — Reply to this email directly, view it on GitHub <#124 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AGUARFDK7SS2CYWKG4JOR7T2DQM75AVCNFSM6AAAAABSWV2ZJCVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDKMJQHEYDSMBWHA> . You are receiving this because you authored the thread.Message ID: ***@***.***>

-- /******************************************** * Yoshiki Obinata (大日方 慶樹) * JSK Robotics Lab, The Univ. of Tokyo ********************************************/

[a-ichikura]

When you send the /cmd_vel with linear.x, the robot moves forward or back.

$ rostopic pub -1 /ridgeback_control/cmd_vel geometry_msgs/Twist "linear:
  x: 0.1
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0" 
publishing and latching message for 3.0 seconds

When you send the /cmd_vel with linear.y, the robot moves left or right.

$ rostopic pub -1 /ridgeback_control/cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.1
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0" 
publishing and latching message for 3.0 seconds

When you send the /cmd_vel with angular.z, the robot turns around.

$ rostopic pub -1 /ridgeback_control/cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.1" 
publishing and latching message for 3.0 seconds

Video_20241203_104708_387.mp4

Video_20241203_104708_397.mp4

Video_20241203_104708_399.mp4

[mqcmd196]

TODO: send mecanum drive controller's PR to https://github.com/ros-controls/ros_controllers

update: ros-controls/ros_controllers#558 There are some patches, but not released

[mqcmd196]

Port https://github.com/iory/robot-programming/blob/jedy/jedy/jedy_description/config/jedy_servo_config.yaml to https://github.com/iory/rcb4/blob/efe38055575d7fc9868efec3c3b57c249738bd53/ros/kxr_models/config/kxrmw4a6h2m_servo_config.yaml

[mqcmd196]

I noticed the PR doesn't work with roslaunch kxr_controller kxr_controller_for_wheel.launch . It had better to send PR to https://github.com/iory/robot-programming/tree/jedy.

I'm not sure the difference between Jedy and kxrmw4a6h2m ...