This PR follows from #151 and adds the ROS wrapper around robot dynamics.
Now, each spawned robot will additionally have a <robot_name>/cmd_vel subscriber where you can send it geometry_msgs/Twist commands like with most mobile bases in ROS.
Because of ROS Publishing timing, we also need a command latching and ramp-down time to be defined.
This PR follows from #151 and adds the ROS wrapper around robot dynamics.
Now, each spawned robot will additionally have a
<robot_name>/cmd_vel
subscriber where you can send itgeometry_msgs/Twist
commands like with most mobile bases in ROS.Because of ROS Publishing timing, we also need a command latching and ramp-down time to be defined.
Closes #148