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vesc's Introduction

MuSHR VESC

(Derived from MIT VESC)

Contains the code for interfacing with the VESC hardware.

Packages:

  • vesc: Metapackage
  • vesc_ackermann: Code for converting from Ackermann messages to VESC interpretable messages. Also has code for converting vesc responses to odometry.
  • vesc_driver: Code for sending messages to the VESC device file.
  • vesc_main: Launch files for the vesc code.
  • vesc_msgs: Contains only messages related to the VESC.

API

For adjusting params see vesc_main/config/.

Publishers

Note, some topics are omitted because they are only published and subscribed to within the vesc. For more info rosnode list.

Topic Type Description
/vesc/sensors/core vesc_msgs/VescStateStamped Barebones motor command
/vesc/sensors/servo_position_command std_msgs/Float64 Barebones steering command
/vesc/odom nav_msgs/Odometry Odometry from motion model

Subscribers

Topic Type Description
/mux/ackermann_cmd_mux/output ackermann_msgs/AckermannDriveStamped Output from mux to be converted to direct controls

vesc's People

Contributors

mboulet avatar schmittlema avatar gilwoolee avatar rockettm avatar yoneken avatar brentyi avatar darsor avatar

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