odrive_ros2_control

ENGLISH / 中文

Introduction

ODrive driver for ros2_control

Compatibility

Documentation

• Wiki

Done

• [x] Support native protocol on USB
• [x] Support position, speed, torque commands
• [x] Support position, speed, torque feedbacks
• [x] Support using multiple ODrives
• [x] Support smooth switching of control modes
• [x] Unit conversion adheres to REP-103
• [x] Support using any or both of axes on each ODrive
• [x] Allow multiple axes running in different control modes
• [x] Provide sensor data (error, voltage, temperature)
• [x] Auto watchdog feeding

Todo

• [ ] Support serial port and CAN
• [ ] Support feedforward control inputs
• [ ] Automatic configuration of ODrives based on URDF and YAML files