Add multi_omni_wheel_drive_controller

[Amronos]

This is a controller for mobile robots with omnidirectional drive. It supports using 3 or more omni wheels spaced at an equal angle from each other in a circular formation.

I have added many tests similar to other controllers and updated the docs.
Please review this controller and tell me if you have any doubts regarding its working.

I will be updating mobile_robot_kinematics.rst for the kinematics of this controller and for that wanted to ask what software has been used to make the diagrams in that doc. 😄

[christophfroehlich]

I used diagrams.net, the other source files can be found in the repo as well.

[Amronos]

I used diagrams.net, the other source files can be found in the repo as well.

Thanks!

[christophfroehlich]

I used diagrams.net, the other source files can be found in the repo as well.

Thanks!

see the drawio file in doc/images folder

[Amronos]

82b6d87 should fix some of the failures, the other ones I am not too sure on how to fix ff32b2d should fix the others.

[Amronos]

@christophfroehlich Can you do a rerun of the tests?

[Amronos]

I have updated mobile_robot_kinematics.rst for the kinematics of this controller with commit a5d581a.

[christophfroehlich]

Thanks a lot for your contribution.

Why you named your controller multi_omni_wheel_drive_controller? why not just omni_wheel_drive_controller, or omni_drive_controller like our friends at PAL do call it?

The first review round, where I only had a look at the docs and the description. I just added some stylistic comments as well as changes to use standard nomenclature (like state interfaces instead of feedback). Just in case you don't know, you can commit them all at once from the "Files Changed" tab here.

convenience service for other reviewers, the rendered docs:

[christophfroehlich]

why do v_b,x and y have double arrows? I think the positive one is sufficient.
Would you mind to draw dashed aid lines from the center to the wheels' axes and use them as start/endpoint for $\gamma$ and $\theta$ dimensions?
And probably adding indices to the wheels, or describing in the text that they are counted counter-clockwise (like you have already added in the parameter description)?

[Amronos]

Done in commit 57059bf.

[Amronos]

Why you named your controller multi_omni_wheel_drive_controller? why not just omni_wheel_drive_controller, or omni_drive_controller like our friends at PAL do call it?

I didn't name it omni_drive_controller because I didn't want someone to get confused that it is based on mecanum wheels. I named it multi_omni_wheel_drive_controller instead of omni_wheel_drive_controller because I wanted to emphasize the fact that it can work with as many omni wheels as one would like, but now that I think about it omni_wheel_drive_controller would have also been nice.