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Summary:

everything chassis control and odometry gets data from robot and the strategy package sends data to the tracking package and robot

v1:

• built in non/holonomic velocity controller
• basic robot visulization_msgs for rviz
• gazebo support (manual urdf)

Feature Ideas:

• configurable actionlib recovery actions
• configurable output for velocity controller (PID / motion profile)
• pathfollower more specific and better tuned to vex
• robot urdf generator for different robot types
• easily tune PID and odometry values with qt stuff
• automatic urdf robot generator
• visual odometry with realsense
• visual odometry with qr code thing
• send data to other robot about odometry
• check out https://github.com/GuiRitter/OpenBase and https://github.com/YugAjmera/navros_pkg