Rousseau Vincent

I am not sure to understand your concern @facontidavide . Both vel_steering_offset are based on current command (one from the twist and the other from the 4ws). By the way...

We have made ROS controllers for ackermann and four_wheel_steering vehicles. https://github.com/romea/romea_controllers Do not hesitate to test it and give us feedback ! This is only for indigo for now since...

Here is a vehicle that we use for now with those controllers : https://github.com/romea/robucar There is a simulation pkg if you want to test it. There is already some basic...

We are interested to integrate our [four_wheel_drive_controller](https://github.com/Romea/romea_controllers/tree/master/four_wheel_steering_controller) in ros-controls. Maybe it is better to created a new repository in ros-controls, named "vehicle_controllers" for example where we can put diff_drive_controllers, mecanum_drive_controller,...

Before I submit a PR. I have two package that `four_wheel_steering_controller` depends on (`urdf_vehicle_kinematic` and `four_wheel_steering_msgs`). For kinetic, what is better ? Releasing those two packages on my own but...

For the `urdf_vehicle_kinematic`, the best could be to add the package to ros-controls because it could be use by multiples controller like the `diff_drive_controller` to retrieve track, wheel_radius and other...

@jack-oquin has already create a repo in ros-drivers and I just push the package in it https://github.com/ros-drivers/four_wheel_steering_msgs @bmagyar For the `urdf_vehicle_kinematic`, tell me if you prefer to create a repo...

@bmagyar has you said in your previous comment https://github.com/ros-controls/ros_controllers/issues/55#issuecomment-293848850 , I can host the `urdf_vehicle_kinematic` library in the `four_wheel_streering_controller` pkg. If there is interest in these library for other pkg...