From quick google search there are few, one-off projects that don’t spark much confidence.
Is there a good solution for swerve drive or do I also need to write one-off project?
P.S. I could open feature request in ros-controls repo, but I don’t fully get the whole picture and workflow.
I found this PR Added Swerve Drive Controller Package by nitin2606 · Pull Request #1694 · ros-controls/ros2_controllers · GitHub that looks promising.