This implementation aims to provide a stable, high performance VESC driver implementation.

I've read through the original code and there were multiple parts which I didn't like about it. E.g. "TODO: we need a mutex here". Additionally, I didn't like the threading model of the driver implementation.

Additionally, I've added an abstraction layer so that we can drive multiple xESC motor controllers using the same ROS interface xesc_driver. Currently the xesc_mini and the xesc_2040 are supported.

This repositry is licensed under the Apache 2.0 License.

A part of these packages had been developed by Michael T. Boulet at MIT under the BSD 3-clause License until Dec. 2016 in the repository named mit-racecar/vesc. Since Nov. 2019, Softbank Corp. takes over development as new packages.