1). git clone to "your_ws/src"
2). colcon build --symlink-install
3). source install/local_setup.bash
ros2 launch cocel_driver cocel_driver.launch.py
1). Motor driver parameter configuration file is on 'config' folder
2). Basic can frame interface api is from here(Added getMotorState function on MotorDrive.cpp) - https://github.com/dfki-ric-underactuated-lab/mini-cheetah-tmotor-can
3). Motor status topic : "~ns/motor_status", tpye: std_msgs::msg::Float32MultiArray
4). Run command topic : "~ns/cmd_topic", type : cocel_driver::msg::CocelDriverCmd
5). Stop command topic : "~ns/stop_topic", type : std_msgs::msg::Empty
1). Set Run command limitation - Done