Gazebo: add OmniRover with Mecanum wheels

Gazebo/config/omni3rover.param

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+ACRO_TURN_RATE 300.000000
+ARSPD_PIN 1
+ARSPD_BUS 2
+ATC_SPEED_P 0.200000
+ATC_SPEED_D 0.000010
+ATC_STR_RAT_D 0.000010
+ATC_STR_RAT_FF 0.100000
+ATC_STR_RAT_I 0.010000
+ATC_STR_RAT_MAX 360.000000
+ATC_STR_RAT_P 0.030000
+BATT_MONITOR 4
+CRUISE_SPEED 1.0
+CRUISE_THROTTLE 42.0
+FRAME_TYPE 4
+GCS_PID_MASK 1
+INS_ACC2OFFS_X 0.001
+INS_ACC2OFFS_Y 0.001
+INS_ACC2OFFS_Z 0.001
+INS_ACC2SCAL_X 1.001
+INS_ACC2SCAL_Y 1.001
+INS_ACC2SCAL_Z 1.001
+INS_ACCOFFS_X 0.001
+INS_ACCOFFS_Y 0.001
+INS_ACCOFFS_Z 0.001
+INS_ACCSCAL_X 1.001
+INS_ACCSCAL_Y 1.001
+INS_ACCSCAL_Z 1.001
+INS_LOG_BAT_MASK 127
+MODE3 11
+MODE4 10
+MODE5 2
+PSC_VEL_P 0.500000
+RC1_MAX 2000
+RC1_MIN 1000
+RC2_MAX 2000
+RC2_MIN 1000
+RC3_MAX 2000
+RC3_MIN 1000
+RC4_MAX 2000
+RC4_MIN 1000
+RELAY1_PIN 1
+RELAY2_PIN 2
+SERVO1_FUNCTION 33
+SERVO1_MAX 2000
+SERVO1_MIN 1000
+SERVO1_TRIM 1500
+SERVO2_FUNCTION 34
+SERVO2_MAX 2000
+SERVO2_MIN 1000
+SERVO2_TRIM 1500
+SERVO3_FUNCTION 35
+SERVO3_MAX 2000
+SERVO3_MIN 1000
+SERVO3_TRIM 1500
+WP_PIVOT_RATE 120.0
+WP_RADIUS 3
+WP_SPEED 1.0
+
+

Gazebo/config/omni4rover.param

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+ACRO_TURN_RATE 300.000000
+ARSPD_PIN 1
+ARSPD_BUS 2
+ATC_SPEED_P 0.200000
+ATC_SPEED_D 0.000100
+ATC_STR_RAT_D 0.005000
+ATC_STR_RAT_FF 0.100000
+ATC_STR_RAT_I 0.080000
+ATC_STR_RAT_MAX 360.000000
+ATC_STR_RAT_P 0.080000
+BATT_MONITOR 4
+CRUISE_SPEED 1.0
+CRUISE_THROTTLE 42.0
+FRAME_TYPE 2
+GCS_PID_MASK 1
+INS_ACC2OFFS_X 0.001
+INS_ACC2OFFS_Y 0.001
+INS_ACC2OFFS_Z 0.001
+INS_ACC2SCAL_X 1.001
+INS_ACC2SCAL_Y 1.001
+INS_ACC2SCAL_Z 1.001
+INS_ACCOFFS_X 0.001
+INS_ACCOFFS_Y 0.001
+INS_ACCOFFS_Z 0.001
+INS_ACCSCAL_X 1.001
+INS_ACCSCAL_Y 1.001
+INS_ACCSCAL_Z 1.001
+INS_LOG_BAT_MASK 127
+MODE3 11
+MODE4 10
+MODE5 2
+PSC_VEL_D 0.000100
+PSC_VEL_I 0.100000
+RC1_MAX 2000
+RC1_MIN 1000
+RC2_MAX 2000
+RC2_MIN 1000
+RC3_MAX 2000
+RC3_MIN 1000
+RC4_MAX 2000
+RC4_MIN 1000
+RELAY1_PIN 1
+RELAY2_PIN 2
+SERVO1_FUNCTION 33
+SERVO1_MAX 2000
+SERVO1_MIN 1000
+SERVO1_TRIM 1500
+SERVO2_FUNCTION 34
+SERVO2_MAX 2000
+SERVO2_MIN 1000
+SERVO2_TRIM 1500
+SERVO3_FUNCTION 35
+SERVO3_MAX 2000
+SERVO3_MIN 1000
+SERVO3_TRIM 1500
+SERVO4_FUNCTION 36
+SERVO4_MIN 1000
+SERVO4_MAX 2000
+SERVO4_TRIM 1500
+WP_PIVOT_RATE 120.0
+WP_RADIUS 3
+WP_SPEED 1.0
+
+

Gazebo/docs/Omni3Rover.md

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+# Omni3 Mecanum Rover
+
+An Omni rover with 3 [Mecanum wheels](https://en.wikipedia.org/wiki/Mecanum_wheel).
+
+![omni3rover](https://github.com/user-attachments/assets/53d5d0bf-e4e3-4f03-a50a-4004a9865309)
+
+
+## Usage
+
+#### Run Gazebo
+
+Edit the `omnirover_playpen.sdf` to include the `omni3rover` model.
+
+```bash
+gz sim -v4 -r omnirover_playpen.sdf
+```
+
+#### Run ArduPilot SITL
+
+```bash
+sim_vehicle.py -v Rover --model JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/omni3rover.param --console --map
+```
+
+Once armed, set the mode to `MANUAL` and control as follows:
+
+| Channel | Low | High |
+| --- | --- | --- |
+`rc 1` | yaw left | yaw right |
+`rc 2` | not assigned | |
+`rc 3` | move back | move forward |
+`rc 4` | move left | move right |
+
+
+## Links
+
+- [Rover wiki: Motor and Servo Connections: Omni-Vehicles](https://ardupilot.org/rover/docs/rover-motor-and-servo-connections.html#omni-vehicles)

Gazebo/docs/OmniXRover.md

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+# OmniX Mecanum Rover
+
+An Omni rover with 4 [Mecanum wheels](https://en.wikipedia.org/wiki/Mecanum_wheel).
+
+![omni4rover](https://github.com/user-attachments/assets/00775e2c-a651-4902-9493-c272687152c0)
+
+
+## Usage
+
+#### Run Gazebo
+
+```bash
+gz sim -v4 -r omnirover_playpen.sdf
+```
+
+#### Run ArduPilot SITL
+
+```bash
+sim_vehicle.py -v Rover --model JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/omni4rover.param --console --map
+```
+
+Once armed, set the mode to `MANUAL` and control as follows:
+
+| Channel | Low | High |
+| --- | --- | --- |
+`rc 1` | yaw left | yaw right |
+`rc 2` | not assigned | |
+`rc 3` | move back | move forward |
+`rc 4` | move left | move right |
+
+
+## Links
+
+- [Rover wiki: Motor and Servo Connections: Omni-Vehicles](https://ardupilot.org/rover/docs/rover-motor-and-servo-connections.html#omni-vehicles)

Gazebo/models/mecanum_wheel_left/model.config

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+<?xml version="1.0"?>
+<model>
+  <name>Mecanum Wheel Left</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+
+  <author>
+    <name>Rhys Mainwaring</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    Left mecanum wheel.
+  </description>
+</model>