diff --git a/doc/index.rst b/doc/index.rst
index a46632b4..1f53c115 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -336,6 +336,13 @@ When the Gazebo world is launched you can run some of the following commands to
ros2 run gz_ros2_control_demos example_tricycle_drive
ros2 run gz_ros2_control_demos example_ackermann_drive
+To run the Mecanum mobile robot run the following commands to drive it from the keyboard:
+
+.. code-block:: shell
+
+ ros2 launch gz_ros2_control_demos mecanum_drive_example.launch.py
+ ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true
+
Gripper
-----------------------------------------------------------
diff --git a/gz_ros2_control_demos/config/mecanum_drive_controller.yaml b/gz_ros2_control_demos/config/mecanum_drive_controller.yaml
new file mode 100644
index 00000000..1c85486a
--- /dev/null
+++ b/gz_ros2_control_demos/config/mecanum_drive_controller.yaml
@@ -0,0 +1,25 @@
+controller_manager:
+ ros__parameters:
+ update_rate: 100 # Hz
+ use_sim_time: true
+
+ joint_state_broadcaster:
+ type: joint_state_broadcaster/JointStateBroadcaster
+
+ mecanum_drive_controller:
+ type: mecanum_drive_controller/MecanumDriveController
+
+mecanum_drive_controller:
+ ros__parameters:
+ reference_timeout: 1.0 # max time between command messages before the vehicle should stop
+ front_left_wheel_command_joint_name: "front_left_wheel_joint"
+ front_right_wheel_command_joint_name: "front_right_wheel_joint"
+ rear_right_wheel_command_joint_name: "rear_right_wheel_joint"
+ rear_left_wheel_command_joint_name: "rear_left_wheel_joint"
+ kinematics:
+ base_frame_offset: { x: 0.0, y: 0.0, theta: 0.0 }
+ wheels_radius: 0.3
+ sum_of_robot_center_projection_on_X_Y_axis: 1.1
+ base_frame_id: "base_link"
+ odom_frame_id: "odom"
+ enable_odom_tf: true
diff --git a/gz_ros2_control_demos/launch/mecanum_drive_example.launch.py b/gz_ros2_control_demos/launch/mecanum_drive_example.launch.py
new file mode 100644
index 00000000..9bc08170
--- /dev/null
+++ b/gz_ros2_control_demos/launch/mecanum_drive_example.launch.py
@@ -0,0 +1,116 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.actions import RegisterEventHandler
+from launch.event_handlers import OnProcessExit
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+ # Launch Arguments
+ use_sim_time = LaunchConfiguration('use_sim_time', default=True)
+
+ # Get URDF via xacro
+ robot_description_content = Command(
+ [
+ PathJoinSubstitution([FindExecutable(name='xacro')]),
+ ' ',
+ PathJoinSubstitution(
+ [FindPackageShare('gz_ros2_control_demos'),
+ 'urdf', 'test_mecanum_drive.xacro.urdf']
+ ),
+ ]
+ )
+ robot_description = {'robot_description': robot_description_content}
+ robot_controllers = PathJoinSubstitution(
+ [
+ FindPackageShare('gz_ros2_control_demos'),
+ 'config',
+ 'mecanum_drive_controller.yaml',
+ ]
+ )
+
+ node_robot_state_publisher = Node(
+ package='robot_state_publisher',
+ executable='robot_state_publisher',
+ output='screen',
+ parameters=[robot_description]
+ )
+
+ gz_spawn_entity = Node(
+ package='ros_gz_sim',
+ executable='create',
+ output='screen',
+ arguments=['-topic', 'robot_description',
+ '-name', 'mecanum_vehicle', '-allow_renaming', 'true'],
+ )
+
+ joint_state_broadcaster_spawner = Node(
+ package='controller_manager',
+ executable='spawner',
+ arguments=['joint_state_broadcaster'],
+ )
+ mecanum_drive_controller_spawner = Node(
+ package='controller_manager',
+ executable='spawner',
+ arguments=[
+ 'mecanum_drive_controller',
+ '--param-file',
+ robot_controllers,
+ ],
+ )
+
+ # Bridge
+ bridge = Node(
+ package='ros_gz_bridge',
+ executable='parameter_bridge',
+ arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
+ output='screen'
+ )
+
+ return LaunchDescription([
+ # Launch gazebo environment
+ IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
+ 'launch',
+ 'gz_sim.launch.py'])]),
+ launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
+ RegisterEventHandler(
+ event_handler=OnProcessExit(
+ target_action=gz_spawn_entity,
+ on_exit=[joint_state_broadcaster_spawner],
+ )
+ ),
+ RegisterEventHandler(
+ event_handler=OnProcessExit(
+ target_action=joint_state_broadcaster_spawner,
+ on_exit=[mecanum_drive_controller_spawner],
+ )
+ ),
+ bridge,
+ node_robot_state_publisher,
+ gz_spawn_entity,
+ # Launch Arguments
+ DeclareLaunchArgument(
+ 'use_sim_time',
+ default_value=use_sim_time,
+ description='If true, use simulated clock'),
+ ])
diff --git a/gz_ros2_control_demos/package.xml b/gz_ros2_control_demos/package.xml
index 18d2f800..08d9a9e3 100644
--- a/gz_ros2_control_demos/package.xml
+++ b/gz_ros2_control_demos/package.xml
@@ -44,6 +44,7 @@
imu_sensor_broadcaster
joint_state_broadcaster
joint_trajectory_controller
+ mecanum_drive_controller
ros2controlcli
tricycle_controller
velocity_controllers
diff --git a/gz_ros2_control_demos/urdf/test_mecanum_drive.xacro.urdf b/gz_ros2_control_demos/urdf/test_mecanum_drive.xacro.urdf
new file mode 100644
index 00000000..2b13afdc
--- /dev/null
+++ b/gz_ros2_control_demos/urdf/test_mecanum_drive.xacro.urdf
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