I am working on a robot having a robotic arm mounted on a mobile base. The mobile base is based on holonomic drive, using 4 mecanum wheels. According to Moveit2, we need to have an kinematic solver for mobile base depending on the type of drive of the mobile base.
An example for mobile base using differential drive is available here.

I am looking for kinematic solver for mecanum wheel robot, but unable to find one. Is there any kinematic solver available for mecanum wheel(holonomic drive) on MoveIt2?
If not what other options do I have?

I am working on a robot having a robotic arm mounted on a mobile base. The mobile base is based on holonomic drive, using 4 mecanum wheels. According to Moveit2, we need to have an kinematic solver for mobile base depending on the type of drive of the mobile base.
An example for mobile base using differential drive is available here.

I am looking for kinematic solver for mecanum wheel robot, but unable to find one. Is there any kinematic solver available for mecanum wheel(holonomic drive) on MoveIt2?
If not what other options do I have?

UPDATE:

double w_front_left_vel =
      1.0 / params_.kinematics.wheels_radius *
      (velocity_in_center_frame_linear_x_ - velocity_in_center_frame_linear_y_ -
       params_.kinematics.sum_of_robot_center_projection_on_X_Y_axis *
         velocity_in_center_frame_angular_z_);

double w_back_left_vel =
      1.0 / params_.kinematics.wheels_radius *
      (velocity_in_center_frame_linear_x_ + velocity_in_center_frame_linear_y_ -
       params_.kinematics.sum_of_robot_center_projection_on_X_Y_axis *
         velocity_in_center_frame_angular_z_);

double w_back_right_vel =
      1.0 / params_.kinematics.wheels_radius *
      (velocity_in_center_frame_linear_x_ - velocity_in_center_frame_linear_y_ +
       params_.kinematics.sum_of_robot_center_projection_on_X_Y_axis *
         velocity_in_center_frame_angular_z_);

double w_front_right_vel =
      1.0 / params_.kinematics.wheels_radius *
      (velocity_in_center_frame_linear_x_ + velocity_in_center_frame_linear_y_ +
       params_.kinematics.sum_of_robot_center_projection_on_X_Y_axis *
         velocity_in_center_frame_angular_z_);

```