Ray-Quasar: 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.

Ackermann to VESC Node has been reconfigured to publish braking messages.

This functionality existed in the ROS1 version of this package but was not included in the port to ROS2. I have added it back in, and improved it somewhat.

If you are an F1Tenth/Roboracer team using Traxxas' Velineon 3351R 3500 BLDC motor this motor configuration XML will get you HFI for smoother starts as well.

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