# Omni_caster

**Repository Path**: slh0031/omni_caster

## Basic Information

- **Project Name**: Omni_caster
- **Description**: omni  caster chassis ros2 controller pluging
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-22
- **Last Updated**: 2025-12-28

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

active omni directional caster控制器

ROS2使用版本  :humble

---description_omni_caster    rviz2可视化，gazebo仿真并加载omni_caster_controller

---omni_caster_controller     omni_caster_controller 插件包

-------cmd_vel or cmd_vel_stamped   ✅  

-------simple speed limiter         ✅ 

-------forword kinematics           ✅ 

-------inverse kinematics           ✅

-------odometry and TF pub          ❌

注意：cmd_vel和cmd_vel_stamped 发布周期应小于 cmd_vel_timeout  否则速度指令超时 小车会停止或一走一停