Add Mecanum vehicle example

[MarqRazz]

As the title says this adds a new example showing how to use the new MecanumDriveController in ros2_controllers 🏆.

The odometry of the vehicle is still a little off when rotating because I don't fully understand what sum_of_robot_center_projection_on_X_Y_axis parameter would equate to for this vehicle.

[MarqRazz]

Looks like this might be blocked on the mecanum controller getting released.
gz_ros2_control_demos: Cannot locate rosdep definition for [mecanum_drive_controller]

[christophfroehlich]

@bmagyar just released it ;)

[bmagyar]

I am Santa, reading your wishlists on github

ros/rosdistro#43821
ros/rosdistro#43822

[ahcorde]

Just a minor comment, otherwise lgtm when the ci is green. I just merged the PRs in ros_distro

[ahcorde]

https://github.com/Mergifyio backport jazzy

[mergify]

backport jazzy

🟠 Waiting for conditions to match

• merged [📌 backport requirement]

[ahcorde]

@Pratham-Pandey can you help us to setup sum_of_robot_center_projection_on_X_Y_axis ?

[Pratham-Pandey]

From what I understood, sum_of_robot_center_projection_on_X_Y_axis is the sum of distance between robot frame(usually at the center) and the wheels. For example if the robot have 4 wheels, we will consider distance to any one wheel(assuming each wheel is equidistant from the robot frame). The distance in x axis plus the distance in y axis.

[MarqRazz]

Thanks for the explanation @Pratham-Pandey! For some reason I half'd the value to the wheels in the X and Y thinking I had that as the total wheel base. This is corrected now and reports odom that matches the pose of the vehicle in Gazebo.

[ahcorde]

https://github.com/Mergifyio backport jazzy

[mergify]

backport jazzy

✅ Backports have been created

• #455 Add Mecanum vehicle example (backport #451) has been created for branch jazzy