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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

droemer7 avatar schmittlema avatar mboulet avatar gilwoolee avatar nickswalker avatar rockettm avatar yoneken avatar brentyi avatar darsor avatar

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