Mecanum Wheel FM202-205-15U-R/L (FUJI) gazebo model description.
How to build fuji mecanum in your robot.
<?xml version="1.0" ?>
<robot name="mecanum_wheel_robot" xmlns:xacro="http://ros.org/wiki/xacro">
....
<!-- include mecanum_wheel macro -->
<xacro:include filename="$(find fuji_mecanum)/urdf/mecanum_wheel_macro.xacro" />
<!-- load macro -->
<!-- name: link name -> ${name}_wheel_link -->
<!-- side: mecanum wheel direct 1: right, -1: left -->
<xacro:mecanum_wheel name="right" side="1" />
<xacro:mecanum_wheel name="left" side="1" />
<joint name="right_joint_name" type="fixed">
<parent link="parent" />
<child link="right_wheel_link" />
</joint>
<joint name="left_joint_name" type="fixed">
<parent link="parent" />
<child link="left_wheel_link" />
</joint>
....
</robot>-
Gazebo simulation
# Gazemo GUI launch $ roslaunch fuji_mecanum gazebo_test_robot_launch# mecanum control node $ rosrun fuji_mecanum test_mecanum_robot.py$ rostopic pub /cmd_vel geometry_msgs/Twist "linear: x: 1.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0"