add support for spherical wheels

ros-controls / urdf_geometry_parser

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Open frantisekbrabec opened 3 years ago

frantisekbrabec commented 3 years ago

This adds ability to retrieve wheel radius from spherical wheels (not just cylindrical). This code was shamelessly taken out of https://github.com/ros-controls/ros_controllers/blob/noetic-devel/diff_drive_controller/src/diff_drive_controller.cpp

bmagyar commented 3 years ago

don't worry, pretty much all code in this repo has been shamelessly taken from that controller ;)