ROS code mecanum

Create a node called mecanum_drive that does the following: > Subscribe to the /twist_cmd topic, which will contain geometry_msgs/Twist messages. > In the subscriber callback, use the received twist message to compute the corresponding wheel speeds, referring to the kinematics equations in the notes. The particular parameters for the robot are: I'w = 0.15 W = 0.5 L = 0.5 > Publish the wheel speed commands as a single four-element array within a std_msgs/Float64MultiArray message on the lomnibot/wheel_speed_cmd topic. > The array indexes corresponding to each wheel are as follows: - 0: Front left (wheel 1) - 1: Front right (wheel 2) 2: Rear left (wheel 3) 3: Rear right (wheel 4) Create a node called mecanum_drive that does the following: > Subscribe to the /twist_cmd topic, which will contain geometry_msgs/Twist messages. > In the subscriber callback, use the received twist message to compute the corresponding wheel speeds, referring to the kinematics equations in the notes. The particular parameters for the robot are: I'w = 0.15 W = 0.5 L = 0.5 > Publish the wheel speed commands as a single four-element array within a std_msgs/Float64MultiArray message on the lomnibot/wheel_speed_cmd topic. > The array indexes corresponding to each wheel are as follows: - 0: Front left (wheel 1) - 1: Front right (wheel 2) 2: Rear left (wheel 3) 3: Rear right (wheel 4)