Added Swerve Drive Kinematics in mobile_robot_kinematics.rst (backport #1712) #1771
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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 @@
## jazzy #1771 +/- ##
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Coverage 84.93% 84.94%
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Files 127 127
Lines 12175 12174 -1
Branches 1038 1037 -1
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Hits 10341 10341
Misses 1497 1497
+ Partials 337 336 -1
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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.