Veddar VESC Interface

ROS2 version from here.

Packages to interface with Veddar VESC motor controllers. See https://vesc-project.com/ for details

Development Log

Haoru Xue 8/6/2021

Completed:

• Fall back to C++ 14
• Enabled error handler

Haoru Xue 5/16/2021

Completed:

• Ported the VESC package to ROS2
• Sensor reading tested
• Speed and steerign commands tested

Potential Improvements:

• C++ 17 is currently required to replace boost::optional with std::optional
• Speed sensor reading is inverted
• Not made LifeCycleNode yet

How to test

1. Clone this repository and transport drivers into src.
2. rosdep update && rosdep install --from-paths src -i -y
3. Plug in the VESC with a USB cable.
4. Modify vesc/vesc_driver/params/vesc_config.yaml to reflect any changes.
5. Build the package colcon build
6. ros2 launch vesc_driver vesc_driver_node.launch.py