重新编译yocs_velocity_smoother包，修改源码使其支持holonomic底盘。（x, y, w速度优化）

git 源码包到src编译

cd catkin_ws
cd src
git clone https://github.com/yujinrobot/yujin_ocs.git
cd yujin_ocs
mv yocs_velocity_smoother/ ../
cd ..
sudo rm -r yujin_ocs/
catkin_make

提示出错，缺少依赖项 ecl_threads

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "ecl_threads" with
  any of the following names:

    ecl_threadsConfig.cmake
    ecl_threads-config.cmake

  Add the installation prefix of "ecl_threads" to CMAKE_PREFIX_PATH or set
  "ecl_threads_DIR" to a directory containing one of the above files.  If
  "ecl_threads" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  yocs_velocity_smoother/CMakeLists.txt:3 (find_package)


-- Could not find the required component 'ecl_threads'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "ecl_threads" with
  any of the following names:

    ecl_threadsConfig.cmake
    ecl_threads-config.cmake

  Add the installation prefix of "ecl_threads" to CMAKE_PREFIX_PATH or set
  "ecl_threads_DIR" to a directory containing one of the above files.  If
  "ecl_threads" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  yocs_velocity_smoother/CMakeLists.txt:3 (find_package)


-- Configuring incomplete, errors occurred!

apt安装ecl_threads包

sudo apt-get install ros-kinetic-ecl-threads

重新编译OK了。