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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

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