ekumenlabs · glpuga · Jul 30, 2026 · Jul 26, 2026 · Jul 27, 2026
diff --git a/.github/workflows/ros2-ci.yaml b/.github/workflows/ros2-ci.yaml
@@ -20,7 +20,10 @@ jobs:
       matrix:
         config:
         - {
-          ros_distro: "humble"
+          ros_distro: "jazzy"
+        }
+        - {
+          ros_distro: "kilted"
         }
     runs-on: ubuntu-latest
     container:

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -17,11 +17,6 @@ repos:
       - id: check-json
         exclude: ^\.clang-format$
 
-  - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v16.0.3
-    hooks:
-      - id: clang-format
-
   - repo: https://github.com/PyCQA/flake8
     rev: 6.0.0
     hooks:

diff --git a/vesc_driver/CMakeLists.txt b/vesc_driver/CMakeLists.txt
@@ -10,34 +10,117 @@ elseif("${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}" STREQUAL "98")
   set(CMAKE_CXX_STANDARD 14)
 endif()
 
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-find_package(Threads)
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(vesc_msgs REQUIRED)
+find_package(serial_driver REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(Threads REQUIRED)
 
 ###########
 ## Build ##
 ###########
 
-# node library
-ament_auto_add_library(${PROJECT_NAME} SHARED
-  src/vesc_driver.cpp
+# Core library (no ROS dependencies)
+add_library(${PROJECT_NAME}_lib SHARED
   src/vesc_interface.cpp
   src/vesc_packet.cpp
   src/vesc_packet_factory.cpp
+  src/vesc_device_uuid_lookup.cpp
 )
-target_link_libraries(${PROJECT_NAME}
+target_include_directories(${PROJECT_NAME}_lib PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+)
+target_link_libraries(${PROJECT_NAME}_lib
   ${CMAKE_THREAD_LIBS_INIT}
 )
+ament_target_dependencies(${PROJECT_NAME}_lib
+  serial_driver
+)
+
+# ROS node library
+add_library(${PROJECT_NAME} SHARED
+  src/vesc_driver.cpp
+)
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+)
+target_link_libraries(${PROJECT_NAME}
+  ${PROJECT_NAME}_lib
+)
+ament_target_dependencies(${PROJECT_NAME}
+  rclcpp
+  rclcpp_components
+  std_msgs
+  geometry_msgs
+  vesc_msgs
+  sensor_msgs
+)
 rclcpp_components_register_node(${PROJECT_NAME}
   PLUGIN vesc_driver::VescDriver
   EXECUTABLE ${PROJECT_NAME}_node
 )
 
-ament_auto_add_executable(
-  vesc_device_namer
+# Device namer executable
+add_executable(vesc_device_namer
   src/vesc_device_namer.cpp
-  src/vesc_device_uuid_lookup.cpp
+)
+target_link_libraries(vesc_device_namer
+  ${PROJECT_NAME}_lib
+)
+
+#############
+## Install ##
+#############
+
+# Install headers
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+# Install libraries
+install(TARGETS ${PROJECT_NAME}_lib ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+# Install executables
+install(TARGETS vesc_device_namer
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install launch and config files
+install(
+  DIRECTORY launch params
+  DESTINATION share/${PROJECT_NAME}
+)
+
+#############
+## Exports ##
+#############
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(
+  rclcpp
+  rclcpp_components
+  std_msgs
+  geometry_msgs
+  vesc_msgs
+  serial_driver
+  sensor_msgs
 )
 
 #############
@@ -49,8 +132,4 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_auto_package(
-  INSTALL_TO_SHARE
-    launch
-    params
-)
+ament_package()
diff --git a/vesc_driver/package.xml b/vesc_driver/package.xml
@@ -15,7 +15,7 @@
   <author email="josh.whitley@autoware.org">Joshua Whitley</author>
   <author email="hxue@ucsd.edu">Haoru Xue</author>
 
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>asio_cmake_module</depend>
   <depend>rclcpp</depend>

diff --git a/vesc_hardware/CMakeLists.txt b/vesc_hardware/CMakeLists.txt
@@ -0,0 +1,64 @@
+cmake_minimum_required(VERSION 3.8)
+project(vesc_hardware)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(hardware_interface REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(vesc_driver REQUIRED)
+
+## COMPILE
+add_library(
+  vesc_hardware
+  SHARED
+  src/vesc_hardware.cpp
+)
+target_include_directories(vesc_hardware PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+target_link_libraries(vesc_hardware PUBLIC
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  vesc_driver::vesc_driver
+)
+
+# Export hardware plugins
+pluginlib_export_plugin_description_file(hardware_interface vesc_hardware.xml)
+
+# INSTALL
+install(
+  DIRECTORY include
+  DESTINATION include
+)
+install(TARGETS vesc_hardware
+  EXPORT export_vesc_hardware
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+## EXPORTS
+ament_export_targets(export_vesc_hardware HAS_LIBRARY_TARGET)
+ament_export_dependencies(
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  vesc_driver
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/vesc_hardware/README.md b/vesc_hardware/README.md
@@ -0,0 +1,103 @@
+# vesc_hardware
+
+ROS 2 hardware interface component for VESC (Vedder Electronic Speed Controller) motor controllers, compatible with the `ros2_control` framework.
+
+## Overview
+
+This package provides a hardware interface plugin that allows VESC motor controllers to be used seamlessly with `ros2_control`. It handles communication with the VESC, converts between VESC units (degrees, ERPM) and standard ROS units (radians, radians/second), and supports both position and velocity control modes.
+
+## Hardware Parameters
+
+The following parameters must be configured in your robot's URDF/XACRO file within the `<hardware>` tag:
+
+### Required Parameters
+
+| Parameter | Type | Description |
+|-----------|------|-------------|
+| `device` | string | Serial port device path for VESC communication (e.g., `/dev/ttyACM0`, `/dev/ttyUSB0`) |
+
+### Optional Parameters
+
+| Parameter | Type | Default | Description |
+|-----------|------|---------|-------------|
+| `gear_ratio` | double | `1.0` | Gear ratio between motor and output shaft. For a reduction gearbox with ratio N:1, set this to N. Used to convert between motor position/velocity and mechanical output. |
+| `pole_pairs` | int | `1` | Number of motor pole pairs. Used to convert between ERPM (Electrical RPM) and mechanical RPM. For a motor with P poles, pole_pairs = P/2. |
+
+## Supported Interfaces
+
+The hardware component supports a single joint with the following interfaces:
+
+### State Interfaces
+
+- `position` - Joint position in radians (mechanical output)
+- `velocity` - Joint velocity in radians/second (mechanical output)
+
+### Command Interfaces
+
+- `position` - Position command in radians (mechanical output)
+- `velocity` - Velocity command in radians/second (mechanical output)
+
+**Note:** At least one state interface and one command interface must be specified in the URDF.
+
+## URDF Configuration Example
+
+### Basic Configuration (Direct Drive Motor)
+
+```xml
+<ros2_control name="vesc_system" type="system">
+  <hardware>
+    <plugin>vesc_hardware/VescHardware</plugin>
+    <param name="device">/dev/ttyACM0</param>
+  </hardware>
+
+  <joint name="wheel_joint">
+    <command_interface name="velocity"/>
+    <state_interface name="position"/>
+    <state_interface name="velocity"/>
+  </joint>
+</ros2_control>
+```
+
+### Advanced Configuration (Geared Motor)
+
+```xml
+<ros2_control name="vesc_system" type="system">
+  <hardware>
+    <plugin>vesc_hardware/VescHardware</plugin>
+    <param name="device">/dev/ttyACM0</param>
+    <param name="gear_ratio">14.0</param>  <!-- 14:1 reduction gearbox -->
+    <param name="pole_pairs">7</param>     <!-- 14-pole motor -->
+  </hardware>
+
+  <joint name="wheel_joint">
+    <command_interface name="velocity"/>
+    <state_interface name="position"/>
+    <state_interface name="velocity"/>
+  </joint>
+</ros2_control>
+```
+
+### Position Control Example
+
+```xml
+<ros2_control name="vesc_system" type="system">
+  <hardware>
+    <plugin>vesc_hardware/VescHardware</plugin>
+    <param name="device">/dev/ttyACM0</param>
+    <param name="gear_ratio">50.0</param>  <!-- High reduction for position control -->
+    <param name="pole_pairs">7</param>
+  </hardware>
+
+  <joint name="actuator_joint">
+    <command_interface name="position"/>
+    <state_interface name="position"/>
+    <state_interface name="velocity"/>
+  </joint>
+</ros2_control>
+```
+
+## License
+
+Copyright 2024 Ekumen, Inc.
+
+This software is licensed under the BSD 3-Clause License. See the LICENSE file for details.