Vesc is a new repository that was forked to provide a local instance for developing minor changes required for the C1T system. The only update included in this release is negating the speed value sent to the vesc due to the motors being installed in the opposite direction.
Packages to interface with Veddar VESC motor controllers. See https://vesc-project.com/ for details
This is a ROS2 implementation of the ROS1 driver using the new serial driver located in transport drivers.
- Clone this repository and transport drivers into
src. rosdep update && rosdep install --from-paths src -i -y- Plug in the VESC with a USB cable.
- Modify
vesc/vesc_driver/params/vesc_config.yamlto reflect any changes. - Build the packages
colcon build ros2 launch vesc_driver vesc_driver_node.launch.py- If prompted "permission denied" on the serial port:
sudo chmod 777 /dev/ttyACM0
Welcome to the CARMA contributing guide. Please read this guide to learn about our development process, how to propose pull requests and improvements, and how to build and test your changes to this project. CARMA Contributing Guide
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