Demo use of ROS2 hardware interface for Explorer

1. Setup virtual can interface for simulator

modprobe vcan
ip link add dev vcan0 type vcan
ip link set mtu 16 up dev vcan0

2. Launch Simulator

ros2 run pyvesc_explorer app_sim

3. Launch Robot controller (and Explorer Comm bridge)

ros2 launch explorer_bringup hardware_base.launch.py use_bridge:=true

4. Publish some commands

ros2 launch explorer_bringup cartesian_control.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.