odrive_ros2_control
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ODrive driver for ros2_control
odrive_ros2_control
ENGLISH / 中文
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
- [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