[kxr_controller] support mecanum drive

ros/kxr_controller/launch/mecanum_drive_controller.launch

@@ -0,0 +1,11 @@
+<launch>
+
+  <rosparam command="load" file="$(find kxr_models)/config/kxrmw4a6h2m_mecanum_drive_controller.yaml" />
+
+  <node name="mecanum_drive_controller_spawner"
+        pkg="controller_manager" type="spawner"
+        respawn="true" respawn_delay="5" output="screen"
+        args="ridgeback_control" >
+  </node>
+
+</launch>

ros/kxr_controller/package.xml

@@ -36,6 +36,7 @@
   <exec_depend>cmake_modules</exec_depend>
   <exec_depend>kxr_models</exec_depend>
   <exec_depend>rviz</exec_depend>
+  <exec_depend>ridgeback_control</exec_depend>
 
   <test_depend>roslaunch</test_depend>
   <test_depend>rostest</test_depend>

ros/kxr_models/config/kxrmw4a6h2m_mecanum_drive_controller.yaml

@@ -0,0 +1,43 @@
+ridgeback_control:
+  type: "mecanum_drive_controller/MecanumDriveController"
+  front_left_wheel_joint: "front_left_wheel_joint"
+  back_left_wheel_joint: "rear_left_wheel_joint"
+  front_right_wheel_joint: "front_left_wheel_joint"
+  back_right_wheel_joint: "rear_right_wheel_joint"
+  publish_rate: 50
+  pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
+  twist_covariance_diagonal: [0.001, 0.001, 0.001, 1000000.0, 1000000.0, 0.03]
+  cmd_vel_timeout: 0.25
+
+  # Override URDF look-up for wheel separation since the parent link is not the base_link.
+  wheel_separation_x: 0.638
+  wheel_separation_y: 0.551
+
+  # Odometry fused with IMU is published by robot_localization, so
+  # no need to publish a TF based on encoders alone.
+  enable_odom_tf: true
+  base_frame_id: bodyset94855827795112
+
+  # Wheel separation and radius multipliers
+  wheel_separation_multiplier: 1.5 # default: 1.0
+  wheel_radius_multiplier    : 1.0 # default: 1.0
+
+  # Velocity and acceleration limits
+  # Whenever a min_* is unspecified, default to -max_*
+  linear:
+    x:
+      has_velocity_limits    : true
+      max_velocity           : 0.1   # m/s
+      has_acceleration_limits: true
+      max_acceleration       : 20.0   # m/s^2
+    y:
+      has_velocity_limits    : true
+      max_velocity           : 0.1   # m/s
+      has_acceleration_limits: true
+      max_acceleration       : 20.0   # m/s^2
+  angular:
+    z:
+      has_velocity_limits    : true
+      max_velocity           : 4.0   # rad/s
+      has_acceleration_limits: true
+      max_acceleration       : 25.0   # rad/s^2