sl-controls
a11722e872
ROS2 driver for Flipsky FSESC 4.20 Plus (VESC dual ESC) motor control. Replaces hoverboard ESC communication with pyvesc library. Features: - UART serial communication (configurable port/baud) - Dual command modes: duty_cycle (-100 to 100) and RPM setpoint - Telemetry publishing: voltage, current, RPM, temperature, fault codes - Command timeout: auto-zero throttle if no cmd_vel received - Heartbeat-based connection management - Comprehensive error handling and logging Topics: - Subscribe: /cmd_vel (geometry_msgs/Twist) - Publish: /vesc/state (JSON telemetry) - Publish: /vesc/raw_telemetry (debug) Launch: ros2 launch saltybot_vesc_driver vesc_driver.launch.py Config: config/vesc_params.yaml Next phase: Integrate with cmd_vel_mux + safety layer. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
6 lines
110 B
INI
6 lines
110 B
INI
[develop]
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script_dir=$base/lib/saltybot_vesc_driver
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[install]
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install_scripts=$base/lib/saltybot_vesc_driver
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