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You probably have differential kinematics? Am I right? Angular velocity would than be calculated from a speed difference between left and right wheels and distance between them. An example for this you can find in neo_driver package. See function execForwKin. For theory make some Internet search on differential kinematics. There are plenty of presentations from university courses.
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You probably have differential kinematics? Am I right? Angular velocity would than be calculated from a speed difference between left and right wheels and distance between them. An example for this you can find in neo_driver package. See function execForwKin. For theory make some Internet search on differential kinematics. There are plenty of presentations from university courses.
EDIT: After clarifying the kinematics which is skid-steering one should look at diff_drive_controller which also enables skid-stearing. For start see this file.
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