MuSHR VESC
(Derived from MIT VESC)
Contains the code for interfacing with the VESC hardware.
Packages:
vesc: Metapackagevesc_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 |