I am trying to get the build a omni-directional robot in gazebo. I got it working model by applying forces to each wheel following [this](http://www.romin.upm.es/wiki/index.php?title=ROS%3ATutorials/Build_Your_Own_URDF_Robot) tutorial. But the problem is that I also need to do odometry, which I cannot do controlling the model this way.
I want to do path planning and navigation.
I cam across [this](http://answers.ros.org/question/212889/gazebo-planar-move-plugin-for-omni-directional-wheel/?answer=220467#post-id-220467) but I do not understand how I use it. Do I still control each wheel individual by setting commands to each wheel use the \cmd_vel topic? Or Do I ignore the individual wheel speeds and just use the /cmd_vel for the velocity of the robot? I have been stuck on this for a while
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