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

• Wiki

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