This package is a collection of lower-level nodes focused on hardware interaction.
Deals with the manual control of the rover. Takes in joystick messages (sensor_msgs::msg::Joy) and publishes velocity messages (urc_msgs::msg::VelocityPair) telling the motors what to do.
Directs the operation of the motors. Takes in velocity messages (urc_msgs::msg::VelocityPair) and publishes what they mean to the motor encoders over the rover's on-board LAN.