Omnidirectional robot simulation
I have a kiwi drive robot I'd like to simulate in gazebo. As I haven't found a way to simulate omni wheels I've tried modelling the base off of the pr2, which achieves omnidirectional movement by mounting all of its wheels on casters. The rotation of the casters on the pr2 is controlled with a pid controller, which means to go from translating in x to translating in y there is a delay while the casters change the wheel direction. I'd like to avoid this delay in the simulation since the kiwi drive will not experience this delay. So my questions:
1) Is there a more direct way of simulating omni wheels or an omnidirectional robot that does not need to wait for the wheels to turn?
2) Is there a way to have the casters move immediately to the desired angle rather than wait while they are turned by a pid controller?