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Change ros2_control units #17

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merged 2 commits into from
Apr 5, 2024
Merged

Change ros2_control units #17

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afe6f73
change ros2_control units from rev to rad
samuelsadok Apr 2, 2024
be82f0c
disable fail-fast in CI
samuelsadok Apr 2, 2024
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1 change: 1 addition & 0 deletions .github/workflows/ros-build-test.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@ jobs:
build:
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
ros-version: [humble, iron]

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24 changes: 12 additions & 12 deletions odrive_ros2_control/src/odrive_hardware_interface.cpp
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Expand Up @@ -55,22 +55,22 @@ struct Axis {
uint32_t node_id_;

// Commands (ros2_control => ODrives)
double pos_setpoint_ = 0.0f;
double vel_setpoint_ = 0.0f;
double torque_setpoint_ = 0.0f;
double pos_setpoint_ = 0.0f; // [rad]
double vel_setpoint_ = 0.0f; // [rad/s]
double torque_setpoint_ = 0.0f; // [Nm]

// State (ODrives => ros2_control)
// rclcpp::Time encoder_estimates_timestamp_;
// uint32_t axis_error_ = 0;
// uint8_t axis_state_ = 0;
// uint8_t procedure_result_ = 0;
// uint8_t trajectory_done_flag_ = 0;
double pos_estimate_ = NAN;
double vel_estimate_ = NAN;
double pos_estimate_ = NAN; // [rad]
double vel_estimate_ = NAN; // [rad/s]
// double iq_setpoint_ = NAN;
// double iq_measured_ = NAN;
double torque_target_ = NAN;
double torque_estimate_ = NAN;
double torque_target_ = NAN; // [Nm]
double torque_estimate_ = NAN; // [Nm]
// uint32_t active_errors_ = 0;
// uint32_t disarm_reason_ = 0;
// double fet_temperature_ = NAN;
Expand Down Expand Up @@ -285,13 +285,13 @@ return_type ODriveHardwareInterface::write(const rclcpp::Time&, const rclcpp::Du
// Send the CAN message that fits the set of enabled setpoints
if (axis.pos_input_enabled_) {
Set_Input_Pos_msg_t msg;
msg.Input_Pos = axis.pos_setpoint_;
msg.Vel_FF = axis.vel_input_enabled_ ? axis.vel_setpoint_ : 0.0f;
msg.Input_Pos = axis.pos_setpoint_ / (2 * M_PI);
msg.Vel_FF = axis.vel_input_enabled_ ? (axis.vel_setpoint_ / (2 * M_PI)) : 0.0f;
msg.Torque_FF = axis.torque_input_enabled_ ? axis.torque_setpoint_ : 0.0f;
axis.send(msg);
} else if (axis.vel_input_enabled_) {
Set_Input_Vel_msg_t msg;
msg.Input_Vel = axis.vel_setpoint_;
msg.Input_Vel = axis.vel_setpoint_ / (2 * M_PI);
msg.Input_Torque_FF = axis.torque_input_enabled_ ? axis.torque_setpoint_ : 0.0f;
axis.send(msg);
} else if (axis.torque_input_enabled_) {
Expand Down Expand Up @@ -329,8 +329,8 @@ void Axis::on_can_msg(const rclcpp::Time&, const can_frame& frame) {
switch (cmd) {
case Get_Encoder_Estimates_msg_t::cmd_id: {
if (Get_Encoder_Estimates_msg_t msg; try_decode(msg)) {
pos_estimate_ = msg.Pos_Estimate;
vel_estimate_ = msg.Vel_Estimate;
pos_estimate_ = msg.Pos_Estimate * (2 * M_PI);
vel_estimate_ = msg.Vel_Estimate * (2 * M_PI);
}
} break;
case Get_Torques_msg_t::cmd_id: {
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