Added Swerve Drive Kinematics in mobile_robot_kinematics.rst

[nitin2606]

Description

This PR isolates documentation changes for the swerve drive controller, split from PR #1694 . It adds detailed kinematics explanations and a diagram for swerve drive robots with four independently controlled modules.

Changes
Added mobile_robot_kinematics.rst section on swerve drive kinematics, covering inverse/forward kinematics and odometry.
Included swerve_drive.svg to illustrate module orientations and velocity vectors.

[christophfroehlich]

Thanks for adding this to the docs.

There were some minor issues with rst syntax, where sphinx did not render that properly. Do you have any resource to a book or peer-reviewed journal covering the equations?

[christophfroehlich]

• wheel number 2 has still no outline
• the left dimension arrow of $w$ is not in the middle of the wheel?
• the vector notation of v_i is not needed (or has to be added to all vector variables)

The style is still not consistent with the other sketches, but I can polish that out later.

As I asked before: Do you have any resource to a book or peer-reviewed journal covering the equations?

[bmagyar]

thank you!

[bmagyar]

@christophfroehlich with dark mode I get outlines...

[nitin2606]

• wheel number 2 has still no outline
• the left dimension arrow of
  w
  is not in the middle of the wheel?
• the vector notation of v_i is not needed (or has to be added to all vector variables)

The style is still not consistent with the other sketches, but I can polish that out later.

As I asked before: Do you have any resource to a book or peer-reviewed journal covering the equations?

The equations were derived independently based on general principles found in online resources, and are not directly taken from any specific book or peer-reviewed journal.

[nitin2606]

@christophfroehlich with dark mode I get outlines...

I am encountering the same issue. In dark mode, all outlines appear correctly, but in light mode, the outline for wheel 2 is not visible.

[bmagyar]

It is clear then. Everyone should always use dark mode. It was the better choice to begin with...

[bmagyar]

Jokes aside @nitin2606 , the border around that box seems to be set to white, as per @christophfroehlich 's screenshot. Try tweaking it by hand to match the rest

[christophfroehlich]

you can just copy the format from one of the other drawio files in the repo. In the meantime, I try to review the formulas and/or find related stuff in the literature.

[nitin2606]

Jokes aside @nitin2606 , the border around that box seems to be set to white, as per @christophfroehlich 's screenshot. Try tweaking it by hand to match the rest

Please review my latest commit, ID: a50ff80 (Fixed Style Issue in swerve_drive.svg).

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 86.23%. Comparing base (aebe6b1) to head (dffaaab).
Report is 1 commits behind head on master.

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[christophfroehlich]

I checked the equations, they seem to be fine.
https://ieeexplore.ieee.org/document/10307118 introduces them similarily.

https://doi.org/10.1007/s10846-022-01745-7 modeled a two-wheel swerve drive, but differently by means of ICR. But the result looks similar. Btw: they call it Pseudo-omnidirectional robot, which I could agree a bit.

I have two presentation-related suggestions, then I'm happy to merge.