standalone ROS 2 Node that will communicate will VESC controllers via libVESC
Module that points to libVesc repo that will need libSerial installed.
docker build -t ros-dev .
docker run -v /home/seth/repos/ROS_2_VESC_Node:/ros_ws -td --device=/dev/input/js0 --cap-add sys_ptrace -p127.0.0.1:2222:22 --name clion_remote_env ros-dev
sudo chmod a+rw /dev/input/js0
ssh user@localhost -p2222
bash
Build libVesc
cd src/vesc_node/lib/libVESC/
cmake .
make
Build ros2 nodes
. /opt/ros/rolling/setup.sh
colcon build
source install/setup.sh
ros2 run joy_linux joy_linux_node
Monitoring the topic with:
ros2 topic echo /joy