{"id":40115305,"url":"https://github.com/mabrobotics/candle_ros2","last_synced_at":"2026-01-19T12:09:34.325Z","repository":{"id":49980549,"uuid":"493564416","full_name":"mabrobotics/candle_ros2","owner":"mabrobotics","description":"ROS2 driver for using MAB md80 drives with 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[CANdle-SDK](https://github.com/mabrobotics/CANdle-SDK).\nIt exposes both systems as ROS2 nodes with services and topics for operational control and telemetry.\n\nThis package acts as a **runtime control interface**.\nFor configuration, please use:\n\n➡️ [CANdleTool](https://mabrobotics.github.io/MD80-x-CANdle-Documentation/CANdle-SDK/CANdleTool.html)\n\n## Features\n\n### MD Node\n- Control MD drive controllers\n- Publish joint state data\n- Accept position, velocity, motion, and impedance commands\n- Provide enable/disable/zero/mode setup services\n\n### PDS Node\n- Manage PDS devices and their modules\n- Monitor modules such as the Control Board, Isolated Converter, Brake Resistor, and Power Stage\n\n## Installation\n\nGo to your ROS2 workspace and clone the repository:\n\n```bash\ngit clone git@github.com:mabrobotics/candle_ros2.git src/candle_ros2\n```\n\nInitialize submodules:\n\n```bash\ngit -C src/candle_ros2/ submodule update --init --recursive\n```\n\nBuild:\n\n```bash\ncolcon build\n```\n\nSource the environment:\n\n```bash\nsource install/setup.bash\n```\n\n## Running\n\n### MD Node\n```bash\nros2 launch candle_ros2 md_node_launch.py\n```\n\n### PDS Node\n```bash\nros2 launch candle_ros2 pds_node_launch.py\n```\n\n### Both Nodes\n```bash\nros2 launch candle_ros2 both_launch.py\n```\n\n### Launch arguments\n\n- `bus` — desired communication bus with CANdle device, possible values: `USB` and `SPI` (default: `USB`).\n- `data_rate` — data rate of CAN network, possible values: `1M`, `2M`, `5M` and `8M` (default: `1M`).\n- `default_qos` — ROS message quality of service for node's publishers, possible values: `Reliable` and `BestEffort` (default: `Reliable`).\n\nExample launch command with custom arguments:\n```bash\nros2 launch candle_ros2 md_node_launch.py bus:=SPI data_rate:=5M\n```\n\n## Documentation\n\nFull CANdle ROS2 documentation:\n➡️ [CANdle ROS2 nodes documentation](https://mabrobotics.github.io/MD80-x-CANdle-Documentation/CANdle_ROS2/intro.html)\n\nMAB controllers manuals:\n➡️ [MAB documentation](https://mabrobotics.github.io/MD80-x-CANdle-Documentation/intro.html)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmabrobotics%2Fcandle_ros2","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmabrobotics%2Fcandle_ros2","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmabrobotics%2Fcandle_ros2/lists"}