Added Swerve Drive Kinematics in mobile_robot_kinematics.rst (backport #1712) #1770
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Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> (cherry picked from commit e55ff02)
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## humble #1770 +/- ##
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Coverage 67.08% 67.08%
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Files 122 122
Lines 14506 14506
Branches 8956 8956
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Hits 9732 9732
- Misses 1455 1461 +6
+ Partials 3319 3313 -6
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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.
This is an automatic backport of pull request #1712 done by Mergify.