vesc_control

This package is for controlling the motor, by passing the commands to vesc_driver.

The vesc_driver subscribes to the following topics:

/commands/motor/brake  
/commands/motor/current [Amps]  
/commands/motor/duty_cycle [0 - 1]  
/commands/motor/position  
/commands/motor/speed
/commands/servo/position

Script vesc_control.py publishes data for /commands/motor/current topic and the data for this topic is in ampere's.

This script has been tested for current values of 1.5 and 2.5 Amps and the motor works.

Steps to execute:

Launch the driver :

$ roslaunch vesc_driver vesc_driver_node.launch port:=/dev/ttyACM0

Make sure the port you pass as parameter is same as the port on which your vesc is connected.

Launch vesc_control:

$ rosrun vesc_control vesc_control.py