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Hi,

in my projects, I use an Arduino and a simple ros python driver for external ESC driven motors.

https://github.com/mockbot/MockBot/blob/master/mockbot/bin/pymata_move_base.py

Additionally, check donkeycar

http://www.donkeycar.com/, they use I2C connected interfaces to control ESC and motors.

Happy karting

Cheers

Chrimo

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