odrive_ros2_control

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Introduction

ODrive driver for ros2_control

Prerequisites

• ROS Foxy
• ODrive Firmware v0.5.3

Documentation

• Wiki

Done

• Support native protocol on USB
• Support position, speed, torque commands
• Support position, speed, torque feedbacks
• Support using multiple ODrives
• Support smooth switching of control modes
• Unit conversion adheres to REP-103
• Support using any or both of axes on each ODrive
• Allow multiple axes running in different control modes
• Provide sensor data (error, voltage, temperature)
• Auto watchdog feeding

Todo

• Support serial port and CAN
• Support feedforward control inputs
• Automatic configuration of ODrives based on URDF and YAML files