https://github.com/Factor-Robotics/odrive_ros2_control

ODrive driver for ros2_control
https://github.com/Factor-Robotics/odrive_ros2_control

odrive robotics ros2 ros2-control ros2-foxy ros2-humble

Last synced: 24 days ago
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ODrive driver for ros2_control

• Host: GitHub
• URL: https://github.com/Factor-Robotics/odrive_ros2_control
• Owner: Factor-Robotics
• License: apache-2.0
• Created: 2021-06-28T01:47:34.000Z (over 3 years ago)
• Default Branch: humble-fw-v0.5.3
• Last Pushed: 2023-08-28T18:27:00.000Z (over 1 year ago)
• Last Synced: 2024-08-04T00:05:00.857Z (4 months ago)
• Topics: odrive, robotics, ros2, ros2-control, ros2-foxy, ros2-humble
• Language: C++
• Homepage:
• Size: 83 KB
• Stars: 251
• Watchers: 18
• Forks: 80
• Open Issues: 25
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# 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](../../tree/foxy-fw-v0.5.3) | [humble-fw-v0.5.3](../../tree/humble-fw-v0.5.3) |

| ODrive Firmware v0.5.1 | [foxy-fw-v0.5.1](../../tree/foxy-fw-v0.5.1) | [humble-fw-v0.5.1](../../tree/humble-fw-v0.5.1) |

## Documentation

- [Wiki](https://github.com/Factor-Robotics/odrive_ros2_control/wiki/Documentation)

## Done

- [x] Support native protocol on USB

- [x] Support position, speed, torque commands

- [x] Support position, speed, torque feedbacks

- [x] Support feedforward control inputs

- [x] Unit conversion adheres to [REP-103]()

- [x] Support using multiple ODrives

- [x] Support using any or both of axes on each ODrive

- [x] Allow multiple axes running in different control modes

- [x] Support smooth switching of control modes

- [x] Provide sensor data (error, voltage, temperature)

- [x] Auto watchdog feeding

- [x] HIL demos inspired by [ros2_control_demos]()

## Todo

- [ ] Support serial port and CAN

- [ ] Automatic configuration of ODrives based on URDF and YAML files