This branch is 7 commits ahead of f1tenth/vesc:ros2.

Name	Name	Last commit message	Last commit date
Latest commit ValerioMagnago Simplify udev rule for VESC. Dec 26, 2023 4fdfef4 · Dec 26, 2023 History 119 Commits
.github/workflows	.github/workflows	Remove foxy workflow.	Mar 19, 2023
vesc	vesc	std::optional -> std::experimental::optional	Aug 6, 2021
vesc_ackermann	vesc_ackermann	Uniform vesc ackermann launch file to vesc driver.	Mar 27, 2023
vesc_driver	vesc_driver	Simplify udev rule for VESC.	Dec 26, 2023
vesc_msgs	vesc_msgs	fixed timing wait for imu polling	Nov 12, 2021
.gitignore	.gitignore	Add compile_commands.json to .gitignore.	Mar 27, 2023
LICENSE	LICENSE	Adding licenses.	Nov 23, 2020
README.md	README.md	update readme	Jan 13, 2022

Repository files navigation

Veddar VESC Interface

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.yaml to 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