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