Chassis Driver Overview
Main Components¶
The current wheeled-platform chain is built from:
Shared Contract¶
For Venom VNV, chassis integrations should stay compatible around:
| Direction | Topic / TF | Purpose |
|---|---|---|
| Subscribe | /cmd_vel |
Velocity commands from upper layers |
| Publish | /odom |
Odometry output |
| Publish | odom -> base_link |
Base TF |
| Publish | status topics | Platform-specific feedback |
Deployment Commonality¶
No matter whether you use Scout or Hunter, validate the CAN link first, then launch the ROS wrapper.