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Controller for mobile robots with tricycle drive. Input for control are robot base_link twist commands which are translated to traction and steering commands for the tricycle drive base. Odometry is computed from hardware feedback and published.

Velocity commands

The controller works with a velocity twist from which it extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.

Other features

Realtime-safe implementation. Odometry publishing Velocity, acceleration and jerk limits Automatic stop after command timeout