# I need a holonomic diff\_drive\_controller with 3 encoders (optionally different wheels from the drive)

**URL:** <https://discourse.openrobotics.org/t/i-need-a-holonomic-diff-drive-controller-with-3-encoders-optionally-different-wheels-from-the-drive/17231>\
**Category:** ROS General\
**Created:** [November 10, 2020, 10:50pm UTC](https://discourse.openrobotics.org/t/i-need-a-holonomic-diff-drive-controller-with-3-encoders-optionally-different-wheels-from-the-drive/17231 "2020-11-10T22:50:03Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![acetousk](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/acetousk/32/7375_2.png) [@acetousk](https://discourse.openrobotics.org/u/acetousk)\
**Post date:** [November 10, 2020, 10:50pm UTC](https://discourse.openrobotics.org/t/i-need-a-holonomic-diff-drive-controller-with-3-encoders-optionally-different-wheels-from-the-drive/17231/1 "2020-11-10T22:50:03Z")

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I need a drive controller for holonomic / non-holonomic robots with support for 2 or 3 encoders for odometry that can be in a different position from the drive. Clearly the [diff\_drive\_controller](https://github.com/ros-controls/ros_controllers/blob/noetic-devel/diff_drive_controller/src/diff_drive_controller.cpp) only supports non-holonomic wheeled robots with 2 encoders that have to be the same as the drive wheels.

Does anyone know of something like this that already exists in ROS, or should I create my own? Any tips for creating my own?

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**Author:** ![pxalcantara](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/pxalcantara/32/1178_2.png) [@pxalcantara](https://discourse.openrobotics.org/u/pxalcantara)\
**Post date:** [November 10, 2020, 11:57pm UTC](https://discourse.openrobotics.org/t/i-need-a-holonomic-diff-drive-controller-with-3-encoders-optionally-different-wheels-from-the-drive/17231/2 "2020-11-10T23:57:26Z")

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Take a look at the [Open Base](https://github.com/GuiRitter/OpenBase), I think it can help.

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**Author:** ![acetousk](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/acetousk/32/7375_2.png) [@acetousk](https://discourse.openrobotics.org/u/acetousk)\
**Post date:** [November 12, 2020, 1:01am UTC](https://discourse.openrobotics.org/t/i-need-a-holonomic-diff-drive-controller-with-3-encoders-optionally-different-wheels-from-the-drive/17231/3 "2020-11-12T01:01:39Z")

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thank you that looks great!