[cob_omni_drive_controller] Investigate wheel-multi controller

[fmessmer]

Motivated by the insights documented in #143 this issue is to document further tests/developments regarding wheel-multi/mixed-mode cob_omni_drive_controller in order to be able to control the steer motors in position mode

Next steps:

• More detailed tests of [kinetic] wheel multi controller refactored #140 on cob-base (Kinetic Setup)
• optimize position control approach of wheel-multi/mixed-mode controller

It might even be desirable to involve/implement CPC's work...

@ipa-mdl @ipa-fmw @ipa-mig @ipa-bnm @ipa-flg @ipa-tif @ipa-nhg @fmessmer FYI
Please leave comments/suggestions/questions 😉

[fmessmer]

see my summary when testing #179 with cob4-19: https://github.com/ipa320/cob_control/pull/179#issuecomment-399010775