If you wish to contribute to hFramework, you are welcome.
It should be enough to edit
ROSbot::odometryUpdater() methods or preferably add similar methods to support mecanum kinematics.
First one is for setting wheel speed, this method itself would be enough for steering ROSbot by hand.
If you want it to be controlled by path planner, then loopback from
odometryUpdater() will be required.
When implementing your version of
ROSbot::setSpeed(), please keep in mind that for setting single wheel speed we are using
void Wheel::setSpeed(float speed), this value is expressed in encoder ticks per second. The
Wheel class has internally implemented PID controller and it is enabled by default.
Feel free to ask if you need any clarifications or guidance for the code.