Active Caster Driver

A ROS driver to interface with the Active Caster Controller.

Usage

1. Connect the computer to the controller via a USB cable
2. Chmod or set udev rules to let hidraw* be accessible to the program
3. roslaunch cheetah_driver start.launch
4. The driver will automatically search for the device and connect to it, dont touch it otherwise it will be angry ah

Setting RPM of VESC

rostopic pub /cheetah/rpm std_msgs/Int32 [RPM] The publishing has to be ongoing, otherwise the controller will stop sending signal to VESC after 1 second of inactivity.

Getting feedback from VESC

rostopic echo /cheetah/[motor id]/vesc echoes custom message VescStatus

bool connected
float32 rpm
float32 current
float32 pos
float32 mosfetTemp
float32 motorTemp

motor id ranges from 0-3, which are VESC of front left, front right, rear left and rear right respectively. Feedback of all four VESC are received within the same USB packet and published simultaneously, every ~10ms.

Setting angle of DJI Motors

TODO

Getting angle from DJI Motors

TODO