Odometry for omnidirectional robot

[FabianPG11]

Hi, I am using ignition gazebo: citadel version to simulate an omnidirectional robot (3 wheels).

Using gazebo I can control the robot with the plugin libgazebo_ros_planar_move which allows me to define the command and odometry topics, however this plugin is not available on ignition gazebo.
Is there any similar plugin I could use?. Currently I can make the robot to move using the ignition-gazebo-velocity-control-system plugin, but I am not able to get odometry out of it. The only plugin I have seen with odometry output is diff_drive_system which is not my case.

I appreciate any help.

[chapulina]

I believe you can get the same control functionality with ignition::gazebo::systems::VelocityControl. It accepts a twist message that you can bridge to ROS using ros_ign_bridge.

That plugin isn't publishing odometry though.

[FabianPG11]

Yes, that's how I'm doing it, but the problem is with the odometry. I don't know how to get that.

[chapulina]

There isn't anything publishing odometry besides the diff drive. I think it would be nice to add a new system that publishes odometry to a topic.