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Veddar VESC Interface

ROS2 CI Workflow

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