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sandeepdutta/odrive_ros2_control

This branch is up to date with Factor-Robotics/odrive_ros2_control:humble-fw-v0.5.1.

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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

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ODrive driver for ros2_control

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  • C++ 98.3%
  • CMake 1.7%