setup the three XM430-W210-T motors for omnidirectional motion

[AltziTS007]

ISSUE TEMPLATE ver. 1.0.0

Before you open issue, please refer to ROBOTIS e-Manual

1. How to setup? (ex, U2D2, OpenCR,...)

   U2D2

2. Which Dynamixel have you used? and how many? (Please describe below format to all connected Dynamixels)

   • Model Name ΧΜ430-W210-T

   • ID 1,2,3

I ran 5.1.3.2 Wheel Operators from dxl workbench I changed everything as it says and changed the wheel_operator.cpp because I have a three Omni wheels robot but the robot didn't recognize some moves, for example, it didn't turn left or right but it only moves forward and backward, in other words, recognizes two keys(W,X for example). Any help will be appreciated.

f.zip

Thank you

[yun-goon]

Hi @AltziTS007
Apologies for the delayed response. It seems that your code requires a specific transformation formula in the callback function to suit your robot's configuration, especially for omnidirectional motion. Unfortunately, this package does not provide built-in support for such customized transformation formulas. You might need to implement the appropriate formula tailored to your robot's design manually. Let us know if you have any other questions!

[yun-goon]

This issue will be closed due to prolonged inactivity. If the problem persists, feel free to reopen it, and we will address it promptly. Thank you for your understanding!