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How do I control the chassis with three sphere wheels like pepper robot ?

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Hi My robot chassis like this in gazebo and rviz,its has three sphere wheels. The first picture is seen from below,the second picture contains only three sphere wheels. ![image description](/upfiles/15302543374283911.png) ![image description](/upfiles/1530253981927038.png) But how I control the chassis by gazebo_ros_control? I feel confused.

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