Add multi_omni_wheel_drive_controller

[Amronos]

This is a controller for mobile robots with omnidirectional drive. It supports using 3 or more omni wheels spaced at an equal angle from each other in a circular formation.

I have added many tests similar to other controllers and updated the docs.
Please review this controller and tell me if you have any doubts regarding its working.

I will be updating mobile_robot_kinematics.rst for the kinematics of this controller and for that wanted to ask what software has been used to make the diagrams in that doc. 😄

[Amronos]

82b6d87 should fix some of the failures, the other ones I am not too sure on how to fix ff32b2d should fix the others.

[christophfroehlich]

Thanks a lot for your contribution.

Why you named your controller multi_omni_wheel_drive_controller? why not just omni_wheel_drive_controller, or omni_drive_controller like our friends at PAL do call it?

The first review round, where I only had a look at the docs and the description. I just added some stylistic comments as well as changes to use standard nomenclature (like state interfaces instead of feedback). Just in case you don't know, you can commit them all at once from the "Files Changed" tab here.

[Amronos]

Why you named your controller multi_omni_wheel_drive_controller? why not just omni_wheel_drive_controller, or omni_drive_controller like our friends at PAL do call it?

I didn't name it omni_drive_controller because I didn't want someone to get confused that it is based on mecanum wheels. I named it multi_omni_wheel_drive_controller instead of omni_wheel_drive_controller because I wanted to emphasize the fact that it can work with as many omni wheels as one would like, but now that I think about it omni_wheel_drive_controller would have also been nice.

[christophfroehlich]

As it will take more time to review the controller itself, do you mind to open a PR with the updates to the mobile_robot_kinematics.rst in the meantime? We can merge that immediately then (making the actual code here faster to review for others).

[Amronos]

As it will take more time to review the controller itself, do you mind to open a PR with the updates to the mobile_robot_kinematics.rst in the meantime? We can merge that immediately then (making the actual code here faster to review for others).

Created #1551.

[christophfroehlich]

@robotcopper @mateusmenezes95 you have proposed an omni_drive controller in #1098, could you have a look and review this implementation please?

[codecov]

Codecov Report

Attention: Patch coverage is 87.45928% with 77 lines in your changes missing coverage. Please review.

Project coverage is 85.01%. Comparing base (9063d8f) to head (80e2c91).

Files with missing lines	Patch %	Lines
...ntroller/src/multi_omni_wheel_drive_controller.cpp	85.71%	21 Missing and 14 partials ⚠️
...er/test/test_multi_omni_wheel_drive_controller.cpp	92.22%	0 Missing and 15 partials ⚠️
multi_omni_wheel_drive_controller/src/odometry.cpp	80.28%	12 Missing and 2 partials ⚠️
...er/test/test_multi_omni_wheel_drive_controller.hpp	85.05%	10 Missing and 3 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1535      +/-   ##
==========================================
+ Coverage   84.88%   85.01%   +0.12%     
==========================================
  Files         124      130       +6     
  Lines       11564    12178     +614     
  Branches      985     1064      +79     
==========================================
+ Hits         9816    10353     +537     
- Misses       1433     1476      +43     
- Partials      315      349      +34     

Flag	Coverage Δ
unittests	85.01% <87.45%> (+0.12%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ude/multi_omni_wheel_drive_controller/odometry.hpp	100.00% <100.00%> (ø)
...st/test_load_multi_omni_wheel_drive_controller.cpp	100.00% <100.00%> (ø)
...er/test/test_multi_omni_wheel_drive_controller.hpp	85.05% <85.05%> (ø)
multi_omni_wheel_drive_controller/src/odometry.cpp	80.28% <80.28%> (ø)
...er/test/test_multi_omni_wheel_drive_controller.cpp	92.22% <92.22%> (ø)
...ntroller/src/multi_omni_wheel_drive_controller.cpp	85.71% <85.71%> (ø)

... and 2 files with indirect coverage changes

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