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vesc ros driver
C++ C CMake
Branch: master
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This branch is 20 commits ahead of brentyi:master.


Vesc ros driver for FW 3.33 -> ?

Minor changes:

  1. Updated vesc/vesc_driver/include/vesc_driver/datatypes.h (added COMM_SET_HANDBRAKE to match FW)
  2. Updated vesc/vesc_driver/src/vesc_packet.cpp (rearrange bytes to match FW)

To read the rotor position (radians): rostopic echo /sensors/rotor_position

To control motor position (radians): rostopic pub -r 20 /commands/motor/position -- std_msgs/Float64 3.9

To view sensor information: rostopic echo /sensors/core

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