- Setup virtual can interface for simulator
modprobe vcan
ip link add dev vcan0 type vcan
ip link set mtu 16 up dev vcan0
- Launch Simulator
ros2 run pyvesc_explorer app_sim
- Launch Robot controller (and Explorer Comm bridge)
ros2 launch ros2_control_explorer explorer.launch.py use_bridge:=true
- Publish some commands
ros2 launch ros2_control_explorer explorer_publish.launch.py
Notes:
- Setup should be quite similar for actual robot, just edit the config files.
- Only position interface is supported for now
- The bridge only supports position commands for now.