The steered_wheel_base_controller repository contains the 
steered_wheel_base_controller ROS package, which in turn contains 
SteeredWheelBaseController, a base controller for mobile robots. The 
controller works with bases that have two or more 
independently-steerable driven wheels and zero or more omnidirectional 
passive wheels (e.g. swivel casters).

Repository:
https://github.com/wunderkammer-laboratory/steered_wheel_base_controller.git

-- 
Jim Rothrock | Wunderkammer Laboratory
jim.rothrock@wunderkammerlab.com