How do I control the chassis with three sphere wheels like pepper robot ?

asked 2018-06-29 01:51:16 -0500

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Hi

My robot chassis like this in gazebo and rviz,its has three sphere wheels. The first picture is seen from below,the second picture contains only three sphere wheels.

image description

image description

But how I control the chassis by gazebo_ros_control? I feel confused.
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