https://github.com/ndhana94/ros2_minicheetah_motor_controller

A ros2 node for Mini-Cheetah BLDC actuator
https://github.com/ndhana94/ros2_minicheetah_motor_controller

Last synced: 3 months ago
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A ros2 node for Mini-Cheetah BLDC actuator

• Host: GitHub
• URL: https://github.com/ndhana94/ros2_minicheetah_motor_controller
• Owner: NDHANA94
• License: mit
• Created: 2023-08-04T18:24:45.000Z (almost 2 years ago)
• Default Branch: master
• Last Pushed: 2023-08-14T19:54:09.000Z (almost 2 years ago)
• Last Synced: 2025-01-16T23:44:10.057Z (5 months ago)
• Language: C++
• Homepage:
• Size: 116 KB
• Stars: 1
• Watchers: 1
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# ros2_minicheetah_motor_controller

A ros2 node for Mini-Cheetah BLDC actuator.

## !!! NOT READY TO USE !!!

## !!! WORK IN PROGERSS !!! 

![](https://ae01.alicdn.com/kf/Habc6643ff4d34925bd65ab1aa82d594as/MIT-Mini-Cheetah-four-legged-robot-dog-servo-motor-joint-motor-modul-reducer-driver-robot-arm.jpg)

### Information:

This package allows to controll multiple Mini-Cheetah BLDC actuators over a CAN 2.0 bus.

### create ros2 workspace 

```

    mkdir -p ros2_ws/src

    cd ros2_ws/src

```

### install pkgs

```

    git clone [email protected]:NDHANA94/ros2_minicheetah_motor_controller.git

    git clone https://github.com/RoverRobotics-forks/serial-ros2.git #clone ros2_serial

    cd ~/ros2_ws

    colcon build

    source install/setup.bash

    sudo chmod a+x install/ros2_minicheetah_motor_controller/share/ros2_minicheetah_motor_controller/bash_scripts/slcan.bash # to give the permission to the bash file to be excecuted

```