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update README with mock connector instructions

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ryleu
2026-04-02 19:49:07 -05:00
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@@ -74,6 +74,19 @@ You can see all data sent to it in a string format with this command:
$ ros2 topic echo /anchor/to_vic/debug $ ros2 topic echo /anchor/to_vic/debug
``` ```
To send data to it, use the normal topic:
```bash
$ ros2 topic pub /anchor/to_vic/relay astra_msgs/msg/VicCAN '{mcu_name: "core", command_id: 50, data: [0.0, 2.0, 0.0, 1.0]}'
```
To emulate receiving data from a microcontroller, publish to the dedicated topic:
```bash
$ ros2 topic pub /anchor/from_vic/mock_mcu std_msgs/msg/String '{data: "can_relay_fromvic,arm,55,0.0,450.0,900.0,0.0"}'
```
### Testing Serial ### Testing Serial
You can fake the presence of a Serial device (i.e., MCU) by using the following command: You can fake the presence of a Serial device (i.e., MCU) by using the following command: