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