hero_epos

This is a ROS 2 package that provides simple with EPOS4 motor drivers over CAN. It includes:

• A node to launch motors with a given ID
• A autolauncher launcher for the moonbot launcher system
• The official Maxon EPOS Linux library, placed within EPOS_Linux_Library/.

Installation

Put it in your workspace's ./src directory. then build you workspace.

Usage

Do not forget to set up the can0:

sudo ip link set can0 type can bitrate 1000000

Contents

• src/: source code for the nodes (arm and wheel).
• EPOS_Linux_Library/: official Maxon library for Linux.