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Robotic-Decision-Making-Lab / ardusub_driver

Collection of ROS 2 packages and hardware interfaces that support ROS 2 integration with ArduSub
MIT License
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Implemented a thruster hardware interface and manager #5

Closed evan-palmer closed 8 months ago

evan-palmer commented 8 months ago

Changes Made

This PR ports some of the functionality originally implemented in Blue to an independent repository while also improving support for the ROS ecosystem through the use of ros2_control for managing PWM passthrough.

Associated Issues

This will contribute toward closing https://github.com/Robotic-Decision-Making-Lab/blue/issues/33

Testing

Preliminary testing was done using the Blue simulation environment with a BlueROV2 Heavy configuration.