Awesome
odrive_ros2_control
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Introduction
ODrive driver for ros2_control
Compatibility
| ROS 2 Foxy Fitzroy | ROS 2 Humble Hawksbill | |
|---|---|---|
| ODrive Firmware v0.5.3 | foxy-fw-v0.5.3 | humble-fw-v0.5.3 |
| ODrive Firmware v0.5.1 | foxy-fw-v0.5.1 | humble-fw-v0.5.1 |
Documentation
Done
- Support native protocol on USB
- Support position, speed, torque commands
- Support position, speed, torque feedbacks
- Support feedforward control inputs
- Unit conversion adheres to REP-103
- Support using multiple ODrives
- Support using any or both of axes on each ODrive
- Allow multiple axes running in different control modes
- Support smooth switching of control modes
- Provide sensor data (error, voltage, temperature)
- Auto watchdog feeding
- HIL demos inspired by ros2_control_demos
Todo
- Support serial port and CAN
- Automatic configuration of ODrives based on URDF and YAML files