Tonight I tested to control the motors with VESC over ROS and Differential drive. I took some time to get it setup. But a few hours later I could control the motor with keyboard_teleop over ROS. For a first test and only a few hours spent on this I am very happy with results.

I have not received any bullet connectors yet, so only one motor was plugged in tonight for this test. So the accutal Differential drive would be needed to be tested, but I can’t see why it should not work.

Thanks to the Morph project, there already was an ROS Driver which I could use. This meant I didn’t have to implement almost anything, Great! The Morph project uses the MIT-Racecarproject open source VESC driver.

Read full post here: http://valify.se/2018/03/21/differential-drive-ros-vesc/