option to use external sensor to calibrate vesc position

[jsupratman13]

Change Summary

• resolve #86
• I've implemented a function to use an external sensor to calibrate the zero position during command_mode: position (using VESC as servo). For this PR, I used PM-T65W-P photoelectric sensor for calibration.

Details

1. You can enable calibration via sensor by setting enable_sensor_calibration: true Check the vesc_hw_interface/launch/position_control_sample.launch for more parameter details.
2. I've also added sensor calibration firmware. You can load the firmware using Arduino IDE or call the following command. Edit the vesc_hw_interface/firmware/CMakeLists.txt file to change the target port and/or board.

   catkin build vesc_hw_interface
   catkin build --no-deps vesc_hw_interface --make-args vesc_hw_interface_firmware_serial_calibration-upload

Impacts

• Applied new features to vesc_hw_interface as well as introduced additional build dependencies. Make sure to install the necessary dependencies before building

  roscd vesc_hw_interface
  rosdep install --from-paths . -iry
  catkin build --this

References

Additional Information

[jsupratman13]

closing as it is resolved in #89