On Thu, Dec 19, 2013 at 10:57 PM, Jim Rothrock <jim.rothrock@wunderkammerlab.com> wrote:

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

Great news!. I'll add to your message that the controller is implemented as a ros_control plugin, hence intended to work with ros_control-enabled robots.

Cheers,

Adolfo.

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

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