Ros2 enhancement add imu output

f1tenth / vesc

Repository for the VESC Controller (ROS1 and ROS2)

BSD 3-Clause "New" or "Revised" License

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Ros2 enhancement add imu output #10

Closed anscipione closed 3 years ago

anscipione commented 3 years ago

protocol adapted to firmware 5.2
fixed bug that prevented the reading of data from the serial
added reading of imu data
added program to enumerate vescs based on their uuid
added possibility to command more vesc through canForward

JWhitleyWork commented 3 years ago

@anscipione Thank you very much for the PR! However, this is a very extensive overhaul of the code (almost 2,000 lines of changes) which is a bit hard to review all-at-once. Would you mind splitting this into two PRs? Even if one depends on the other, it will be much easier to review them separately.

anscipione commented 3 years ago

ok I will try to divide the changes by arguments.

bug fixing of serial comunication.
protocol adapted to firmware 5.2 (this is the change that requires the biggest changes to the code I think )
added reading of imu data
added possibility to command more vesc through canForward
added program to enumerate vescs based on their uuid

can this division fit for you?

unfortunately they are all dependent on each other so I will have to proceed in order.

JWhitleyWork commented 3 years ago

Yes, that should work fine. I'll do my best to respond to the PRs quickly.