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.

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 packages colcon build
6. ros2 launch vesc_driver vesc_driver_node.launch.py
7. If prompted "permission denied" on the serial port: sudo chmod 777 /dev/ttyACM0