Add Mecanum Drive Controller

[destogl]

Depends on https://github.com/ros-controls/control_msgs/pull/79

[codecov-commenter]

Codecov Report

Merging #512 (f19c1d5) into master (e7f9962) will decrease coverage by 3.31%. The diff coverage is 26.60%.

:exclamation: Your organization is not using the GitHub App Integration. As a result you may experience degraded service beginning May 15th. Please install the Github App Integration for your organization. Read more.

@@            Coverage Diff             @@
##           master     #512      +/-   ##
==========================================
- Coverage   35.78%   32.48%   -3.31%     
==========================================
  Files         189        7     -182     
  Lines       17570      665   -16905     
  Branches    11592      357   -11235     
==========================================
- Hits         6287      216    -6071     
+ Misses        994      157     -837     
+ Partials    10289      292    -9997     

Flag	Coverage Δ
unittests	32.48% <26.60%> (-3.31%)	:arrow_down:

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...ontroller/test/test_load_diff_drive_controller.cpp	12.50% <0.00%> (ø)
diff_drive_controller/src/odometry.cpp	42.16% <11.11%> (ø)
diff_drive_controller/src/speed_limiter.cpp	46.55% <11.11%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	17.62% <12.08%> (ø)
...troller/include/diff_drive_controller/odometry.hpp	20.00% <20.00%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	39.22% <35.50%> (ø)
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <100.00%> (ø)

... and 189 files with indirect coverage changes

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[tonybaltovski]

Any chance this can get merged soon? Also, backported to Humble?

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[Pratham-Pandey]

I have used this controller on a 4 wheeled robot. I am able to move it forward, backward, rotate in left and right direction(Yaw), but i am UNABLE TO MAKE IT GLIDE IN Y-AXIS. I also tried publishing y-component manually but the robot rotates int that direction instead of gliding. Does this controller has this feature?

[christophfroehlich]

I have used this controller on a 4 wheeled robot. I am able to move it forward, backward, rotate in left and right direction(Yaw), but i am UNABLE TO MAKE IT GLIDE IN Y-AXIS. I also tried publishing y-component manually but the robot rotates int that direction instead of gliding. Does this controller has this feature?

Please don't double post here and on RSE.

[Pratham-Pandey]

I have used this controller on a 4 wheeled robot. I am able to move it forward, backward, rotate in left and right direction(Yaw), but i am UNABLE TO MAKE IT GLIDE IN Y-AXIS. I also tried publishing y-component manually but the robot rotates int that direction instead of gliding. Does this controller has this feature?

Please don't double post here and on RSE.

I was expecting reply from those who wrote the controller :)