Is it possible to use just 4 mecanum wheel?

[Noriyuki-Kugou]

I want to use this Repo to make hobby mecanum robot. and i trying now. But mecanum wheel dose not work.
If anyone know it, please let me know.

When I run
roslaunch roborts_bringup base.launch
and
rostopic pub /cmd_vel ****

but mecunum wheel dose not work.

---Hardware Detail infomation---
・RM board : robomaster development board type A
・RM firmware ver : stable_v1.0.1.6
・Device : Only 4 RoboMaster M3508 P19(with c620) wheel. no connect UWB, Referee system
・Board processing : short on board 4-pin serial port R and G
・Board appearance : LED_R is ON, LED_G is Blinking
・Connection : Intel NUC ---> RM Board type A ---> (C620 ---> M3508 P19) * 4

---

kugou@kugou:~/catkin_ws$ roslaunch roborts_bringup base.launch
... logging to /home/kugou/.ros/log/7ce4baa6-3395-11eb-9e0d-00d86117fc71/roslaunch-kugou-15777.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

WARNING: ignoring defunct tag
/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/loader.py:412: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
data = yaml.load(text)
started roslaunch server http://192.168.1.201:35983/

SUMMARY

PARAMETERS

• /rosdistro: melodic
• /rosversion: 1.14.3
• /serial_port: /dev/serial_sdk

NODES
/
roborts_base_node (roborts_base/roborts_base_node)

ROS_MASTER_URI=http://localhost:11311

process[roborts_base_node-1]: started with pid [15792]
WARNING: Logging before InitGoogleLogging() is written to STDERR
I1201 14:40:49.532860 15792 handle.cpp:33] Connection to /dev/serial_sdk
I1201 14:40:49.532920 15792 handle.cpp:39] Initialization of protocol layer and dispatch layer succeeded.
E1201 14:40:49.584280 15798 protocol.cpp:103] Retry session 2
[ INFO] [1606801249.586549455]: Chassis Firmware Version: 1.0.1.6
E1201 14:40:49.587541 15798 protocol.cpp:103] Retry session 3
E1201 14:40:49.639430 15798 protocol.cpp:103] Retry session 3
E1201 14:40:49.691453 15798 protocol.cpp:103] Retry session 3
E1201 14:40:49.742478 15798 protocol.cpp:103] Retry session 3

[charmyoung]

Currently this repo is only supported for AI robot. You can build your own by realizing the same functionality for RM Board type A according to roborts-firmware repo .