odrive_ros2_control
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Introduction
ODrive driver for ros2_control
Compatibility
Documentation
- Wiki
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