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adi_tmcl package from adi_tmcl repo

adi_tmcl

API Docs
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Package Summary

Tags	No category tags.
Version	4.0.2
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/analogdevicesinc/tmcl_ros.git
VCS Type	git
VCS Version	noetic
Last Updated	2024-11-11
Dev Status	MAINTAINED
CI status	Continuous Integration : 0 / 0
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The adi_tmcl ROS package

Additional Links

No additional links.

Maintainers

Analog Devices

Authors

No additional authors.

README.md

adi_tmcl

adi_tmcl (previously tmcl_ros) is the official ROS Driver for ADI Trinamic Motor Controllers (TMC) that uses Trinamic Motion Control Language (TMCL) protocol.

Background

Supported TMC boards: TMCM-1636, TMCM-1617, TMCM-2611, TMCM-1241, TMCM-1260, TMCM-6214
Supported communication interface and interface driver: CAN (SocketCAN)
Supported ROS and OS distro: Noetic (Ubuntu 20.04)
Supported platform: Intel x86 64-bit (amd64)
Supported setup: Single/Multiple TMC in Single/Multiple CAN channel (namespace-managed)

:memo: Note: Although officially supported TMC boards are only the abovementioned, all market-ready TMCs with YAMLs in this repository are also expected to work and can be tried and tested by the users. Contact the Developers for any issues encountered.

Hardware

For the tested TMCM-1636 setup, the following are used:

1 x TMCM-1636
1 x QBL4208-61-04-013 BLDC motor
1 x External 24V power supply
1 x CAN USB Cable (w/SocketCAN support) - with 120 ohm termination resistors

Also the following:

PWR/GND from board to external 24V power supply
5-pin Motor connector (Hall) (see Note below)
5-pin Motor connector (Encoder) (see Note below)
40 pin Molex connectors

:memo: Note: Check Section 4 of QBL4208-x-1k Datasheet for motor wiring references.

The image below shows the connection diagram of the setup (with labels): TMCM-1636 Connections

The image below shows the actual setup used (for reference): TMCM-1636 Actual Setup

Software

Software Architecture

Software Architecture Diagram

Software Dependencies

Assumptions before building this package:

Installed ROS Noetic. If not, follow these steps.
Setup catkin workspace (with workspace folder named as “catkin_ws”). If not, follow these steps.

Clone

In the website:

Make sure that the branch dropdown is set to “noetic”.
Click the “Clone” or “Code” button, then copy the SSH or HTTPS link (eg, “*.git”).

In a terminal, do the following:

$ cd ~/catkin_ws/src
# Clone to directory "adi_tmcl" which is the package name
$ git clone <copied SSH o HTTPS link here> adi_tmcl

Build

Do proper exports first:

$ source /opt/ros/<ROS version>/setup.bash

Where:

“ROS version” is the user’s actual ROS version

Then:

$ cd ~/catkin_ws/
$ catkin_make clean
$ catkin_make
$ source devel/setup.bash

Pre-Launch (One-time per setup)

If it’s the first time to use the set of motors for the TMC that you are using, it is required to calibrate and tune the PID settings of the motors first.

Do the calibrations/tuning by downloading and using TMCL-IDE.

BLDC Motors

Calibrate the motors

For a run-through/tutorial of how the calibration is done in the TMCL-IDE via its Wizard Pool feature, check this link.

Tune the PI settings of the motors

For a run-through/tutorial of how the PI tuning is done in the TMCL-IDE via its PI Tuning feature, check this link.

:memo: Note: For all the calibration and tuning done, store all the parameters set from TMCL_IDE on the board’s EEPROM. Do this by doing any of the following:

Clicking the “Store Parameter” under Settings of each axis

Using STAP (Store Axis Parameters) command from Direct Mode

Creating and uploading a TMCL Program, and enabling the “auto start mode” under SGP (Set Global Parameter) command from Direct Mode

:memo: Note: Some boards don’t have “auto start mode”, so in such a case, use the other options to store the parameters.

Stepper Motors

Calibrate the motors

For a run-through/tutorial of how the calibration is done in the TMCL-IDE via its Wizard Pool feature, check this link.

For more information about Trinamic features on stepper motors, visit this link.

:memo: Note: For all the calibration and tuning done, store all the parameters set from TMCL_IDE on the board’s EEPROM. Do this by:

Creating and uploading a TMCL Program, and enabling the “auto start mode” under SGP (Set Global Parameter) command from Direct Mode

Pre-Launch (One-time)

Initialize CAN

:memo: Note: This script automatically brings-up CAN upon boot. Do this step only once.

To proceed, first make the script executable (do this only once as this change persists even after power-off):

$ cd ~/catkin_ws/src/adi_tmcl/scripts # or $ cd ~/catkin_ws/src/<repo directory>/scripts
$ chmod +x CAN_init.sh

Execute the script:

$ sudo ./CAN_init.sh <communication interface> <bitrate>

Where:

communication interface is the interface used between the PC and the TMC (accepted values: 0 -255)
bitrate is the rate of communication interface (accepted values: 20000, 50000, 100000, 125000, 250000, 500000, 1000000)

:memo: Note: The above mentioned accepted values are a range, though the user still needs to check the actual TMC’s datasheet on the applicable range. Additionally, the bitrate set here must be the same bitrate set into the the TMC as the Global Parameter “CAN bit rate”.

For example, to initialize CAN with can0 as communication interface and 1000KBPS bitrate:

$ sudo ./CAN_init.sh 0 1000000

De-initialize CAN

:memo: Note: This script disables the automatic bring-up of CAN upon boot.

To proceed, first make the script executable (do this only once as this change persists even after power-off):

$ cd ~/catkin_ws/src/adi_tmcl/scripts # or $ cd ~/catkin_ws/src/<repo directory>/scripts
$ chmod +x CAN_deinit.sh

Execute the script:

$ sudo ./CAN_deinit.sh <communication interface>

Where:

communication interface is the interface used between the PC and the TMC (accepted values: 0 -255)

For example, to de-initialize CAN with can0 as communication interface:

$ sudo ./CAN_deinit.sh 0

Launch

$ roslaunch adi_tmcl tmcm_1636.launch

Nodes

tmcl_ros_node

:memo: _Note: For those with in the topic names, these are ideally the motor number. For example, if there are 2 motors used, there should be two published topics for tmc_info, specifically /tmc_info_0 for motor 0 and then /tmc_info_1 for motor 1._

Published topics

These are the default topic names, topic names can be modified as a ROS parameter.

**/tmc_info_**
- Data containing:
  - (1) board voltage (V)
  - (2) statusflag value (only for boards with StatusFlags AP, else, value is set to 0)
  - (3) statusflag notifications (only for boards with StatusFlags AP and StatusFlags Register names). In the case of Stepper motor(s), this publishes driver error flags and extended error flags values. Else, value is set to “ “)
  - (4) motor number
  - (5) velocity (if Parameter wheel_diameter is set to 0, the unit for published velocity is rpm, else m/s)
  - (6) position (degree angle)
  - (7) torque (mA)

Subscriber topics

**/cmd_vel_**
- Velocity command (rpm or m/s)
**/cmd_abspos_**
- Absolute position command (degree angle)
**/cmd_relpos_**
- Relative position command (degree angle)
**/cmd_trq_**
- Torque command (mA)

Advertised services

/tmcl_custom_cmd (/tmcl_custom_cmd)
- Executes a custom SAP, GAP, SGP and GGP commands
- The output contains raw data (velocity = rpm, position = units) from the board. Do not expect same unit from the publisher.
/tmcl_gap_all (/tmcl_gap_all)
- Get all Axis Parameter values
/tmcl_ggp_all (/tmcl_ggp_all)
- Get all Global Parameter values

Parameters

:memo: Notes:

If any of these parameters are not set/declared, default values will be used.

ROS parameters can only cover rosparam get. rosparam set is prohibited, even when the user run rosparam set, only the parameter from server will change but not in the node itself

Communication Interface Parameters

comm_interface (int, default: 0)
- Interface used between the PC and the TMC (where 0 = CAN)
comm_interface_name (string, default: can0)
- Name of the interface or device as detected by the PC
comm_tx_id (int, default: 1)
- ID for board TX
comm_rx_id (int, default: 2)
- ID for board RX

TMC ROS Node Parameters

comm_timeout_ms (int, default: 100)
- Indicates how long should the node will wait for the rx data
comm_exec_cmd_retries (int, default: 1)
- Indicates how many the node will retry sending data before shutting down if no data received
adhoc_mode (bool, default: false)
- This mode expects that the used module is not known. The velocity, position and torque relies on the additional_ratio_* values.
en_motors (int, default: 0)
- Enables/disables active motors or axes. If disabled, settings for those motors will be ignored or not set.
pub_rate_tmc_info (int, default: 10)
- Publish rate (hertz) of TMC information
auto_start_additional_delay (int, default: 0)
- Added delay if auto start mode is enabled. Use this if your TMCL program needs to start running after over 2 seconds.

Motor Configuration Settings

en_pub_tmc_info (bool, default: false)
- Enables/disables publishing of TMC information
pub_actual_vel (bool, default: false)
- Enable/Disable actual velocity that the user can optionally publish every publish rate as long as en_pub_tmc_info is true
pub_actual_trq (bool, default: false)
- Enable/Disable actual torque that the user can optionally publish every publish rate as long as en_pub_tmc_info is true
pub_actual_pos (bool, default: false)
- Enable/Disable actual position that the user can optionally publish every publish rate as long as en_pub_tmc_info is true
tmc_info_topic (string, default: /tmc_info_)
- tmc_info topics that will contain chosen TMC info that will be published
tmc_cmd_vel_topic (string, default: /cmd_vel_)
- Twist topics that will be the source of target velocity to be set on the TMC
tmc_cmd_abspos_topic (string, default: /cmd_abspos_)
- Int32 topics that will be the source of target position to be set on the TMC
tmc_cmd_relpos_topic (string, default: /cmd_relpos_)
- Int32 topics that will be the source of target position to be set on the TMC
tmc_cmd_trq_topic (string, default: /cmd_trq_)
- Int32 topics that will be the source of target torque to be set on the TMC
wheel_diameter (int, default: 0)
- Wheel diameter that is attached on the motor shaft directly. This is to convert linear values to rpm
- If wheel diameter is 0, cmd_vel is equal to rpm
additional_ratio_vel (int, default: 1)
- Additional Ratio for velocity for general purposes (adhoc mode, added pulley or gear trains). Default value 1 means disabled
additional_ratio_pos (int, default: 1)
- Additional Ratio for position for general purposes (adhoc mode, added pulley or gear trains). Default value 1 means disabled
additional_ratio_trq (int, default: 1)
- Additional Ratio for torque for general purposes (adhoc mode). Default value 1 means disabled

Quick Tests

Test Velocity Mode

To do a quick test of Velocity Mode, there is a fake velocity script that the user can run. Idea is, this script will send Velocity commands (as a ROS topic), then the first motor should be expected to:

Increase velocity every 3secs, clockwise (in m/s: 3, 6, 9)
Stop for 5secs
Increase velocity every 3secs, counter-clockwise (in m/s: -3, -6, -9)
Stop for 5secs

To proceed with the test, execute these following commands on three (3) different terminals (in sequence):

:memo: Note: Assuming that Initialize CAN is already done on Terminal 1.

Terminal 1	Terminal 2	Terminal 3
<pre>$ cd ~/catkin_ws/ $ source /opt/ros/noetic/setup.bash $ source devel/setup.bash $ roslaunch adi_tmcl tmcm_1636.launch	<pre>$ cd ~/catkin_ws/ $ source /opt/ros/noetic/setup.bash $ source devel/setup.bash $ rostopic echo /tmcm1/tmc_info_0	<pre>$ cd ~/catkin_ws/src/adi_tmcl/scripts $ sudo chmod 777 fake_cmd_vel.sh $ ./fake_cmd_vel.sh

Monitor the velocity of the first motor (watch out for velocity value at Terminal 2).

:memo: Notes:

Terminals 2 and 3 are best viewed side-by-side.

You may Ctrl-C the command in Terminal 2 once you’re done.

The command in Terminal 3 auto-stops by itself.

Test Position Mode

To do a quick test of Position Mode, there is a fake position script that the user can run. Idea is, this script will send Position commands (as a ROS topic), then the first motor should be expected to:

Rotate 360 degrees (clockwise) every 5 secs, 3 times
Stop for 5secs
Rotate 360 degrees (counter-clockwise) every 5 secs, 3 times
Stop for 5secs

To proceed with the test, execute these following commands on three (3) different terminals (in sequence):

:memo: Note: Assuming that Initialize CAN is already done on Terminal 1.

Terminal 1	Terminal 2	Terminal 3
<pre>$ cd ~/catkin_ws/ $ source /opt/ros/noetic/setup.bash $ source devel/setup.bash $ roslaunch adi_tmcl tmcm_1636.launch	<pre>$ cd ~/catkin_ws/ $ source /opt/ros/noetic/setup.bash $ source devel/setup.bash $ rostopic echo /tmcm1/tmc_info_0	<pre>$ cd ~/catkin_ws/src/adi_tmcl/scripts $ sudo chmod 777 fake_cmd_pos.sh $ ./fake_cmd_pos.sh

Monitor the position of the first motor (watch out for position value at Terminal 2).

:memo: Notes:

Terminals 2 and 3 are best viewed side-by-side.

You may Ctrl-C the command in Terminal 2 once you’re done.

The command in Terminal 3 auto-stops by itself.

Test Torque Mode

To do a quick test of Torque Mode, there is a fake torque script that the user can run. Idea is, this script will send Torque commands (as a ROS topic), then the first motor should be expected to:

Rotate for 5 secs, with torque = 300
Stop for 5secs
Rotate for 5 secs again, with torque = 300

To proceed with the test, execute these following commands on three (3) different terminals (in sequence):

:memo: Note: Assuming that Initialize CAN is already done on Terminal 1.

Terminal 1	Terminal 2	Terminal 3
<pre>$ cd ~/catkin_ws/ $ source /opt/ros/noetic/setup.bash $ source devel/setup.bash $ roslaunch adi_tmcl tmcm_1636.launch	<pre>$ cd ~/catkin_ws/ $ source /opt/ros/noetic/setup.bash $ source devel/setup.bash $ rostopic echo /tmcm1/tmc_info_0	<pre>$ cd ~/catkin_ws/src/adi_tmcl/scripts $ sudo chmod 777 fake_cmd_trq.sh $ ./fake_cmd_trq.sh

Monitor the torque of the first motor (watch out for torque value at Terminal 2).

:memo: Notes:

Terminals 2 and 3 are best viewed side-by-side.

You may Ctrl-C the command in Terminal 2 once you’re done.

The command in Terminal 3 auto-stops by itself.

Limitations

No support for interfaces other than CAN yet.

Support

Please contact the Maintainers if you want to use this ROS Driver on Trinamic Motor Controllers without YAML files in this repository.

Any other inquiries and support are also welcome.

CHANGELOG

Changelog for package tmcl_ros

4.0.2 (2024-11-11)

Added support for TMCM-1316. Rename Maintainer name in package.xml
Contributors: CAcarADI, jmacagba

4.0.1 (2024-07-15)

Merge branch 'noetic' of https://github.com/analogdevicesinc/tmcl_ros into noetic
Added support for TMCM-2611 Co-Authored-By: Christian Joseph Acar <<124771470+CAcarADI@users.noreply.github.com>> Co-Authored-By: Jamila Macagba <<124771486+jmacagba@users.noreply.github.com>>
Contributors: mmaralit-adi

4.0.0 (2023-12-13)

Updated README.md to mention both tmcl_ros (previous package name) and adi_tmcl
Updated package name and transforms
- Updated package name in compliance to official ROS release, and updated transforms for multi-axes TMCs
Contributors: mmaralit-adi, jmacagba

3.0.2 (2023-10-06)

Removed obsolete modules and updated analog.com references in README
Updated to:
- Remove obsolete modules
- Update analog.com pages in README.md
- Update CMakeLists.txt to make sure other drivers that has same names as socket_can_wrapper will not cause conflicts; and also add install support
Contributors: mmaralit-adi, jmacagba

v3.0.1-noetic (2023-09-26)

Remove obsolete modules, update copyrights' years, update package.xml version and cleanup CMakeLists.txt
- Remove obsolete modules
- Update copyrights' years
- Update package.xml version
- Clean-up comments in CMakeLists.txt
Contributors: CAcarADI, mmaralit-adi

v3.0.0-noetic (2023-09-18)

Adaptations on ROS coding standard and synchronization with upcoming ROS2 Driver version of this
- Adaptations on ROS coding standards
- Synchronization of handling between this ROS1 Driver and the up-for-release ROS2 Driver version
- Added handling for SIGTERM and SIGKILL
- Removed support for TMC variants that are either obsolete, no CAN support, or no Motor Drive
Contributors: CAcarADI, mmaralit-adi

v2.0.0-noetic (2023-07-26)

Added config files for other BLDC and Stepper type motors Added config files for various BLDC and Stepper type motors, added support for stepper type motors, and also added support for multiple TMC connections
Contributors: CAcarADI, mmaralit-adi

v1.0.2-noetic (2023-05-11)

Adjustments for position scaler and status, and added script to get all axis parameter values Updated for the following features:
- Added Position Scaler consideration in position calculation (higher prio than encoder steps)
- Added Status information in published /tmc_info
- Changed default /tmc_info publish rate to 10Hz (previously 1Hz)
- Added GAP_params.sh to query YAML's axis parameters' values
- Made TMCM-1636 FollowEepromConfig as False and then used calibrated values in YAML
- Updated Maintainer email
Added TMCM-1636 actual setup image (for reference).
Contributors: CAcarADI, mmaralit-adi

v1.0.1-noetic (2023-02-10)

Added support for TMCM-1617
Contributors: CAcarADI

v1.0.0-noetic (2023-02-10)

Adding v1.0.0 of tmcl_ros, ROS1, Noetic
- Contains official ROS Driver for Trinamic Motor Controllers (TMC) that uses Trinamic Motion Control Language (TMCL) protocol
- Supported TMC boards: TMCM-1636
- Supported communication interface and interface driver: CAN (SocketCAN)
- Supported ROS and OS distro: Noetic (Ubuntu 20.04)
- Supported platform: Intel x86 64-bit (amd64)
Contributors: CAcarADI, mmaralit-adi

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	roscpp
	geometry_msgs
	message_generation
	catkin
	message_runtime
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/tmcm_6214.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm6214]
  - period [default: 100]
launch/tmcm_6110.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm6110]
  - period [default: 100]
launch/tmcm_1230.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1230]
  - period [default: 100]
launch/tmcm_1140.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1140]
  - period [default: 100]
launch/tmcm_2611.launch
- Copyright (c) 2022-2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm2611]
  - period [default: 100]
launch/tmcm_1160.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1160]
  - period [default: 100]
launch/tmcm_1231.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1231]
  - period [default: 100]
launch/tmcm_1636.launch
- Copyright (c) 2022-2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1636]
  - period [default: 100]
launch/tmcm_1637.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1637]
  - period [default: 100]
launch/tmcm_1638.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1638]
  - period [default: 100]
launch/tmcm_351.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm351]
  - period [default: 100]
launch/tmcm_6212.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm6212]
  - period [default: 100]
launch/tmcm_1278.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1278]
  - period [default: 100]
launch/tmcm_1316.launch
- Copyright (c) 2024 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1316]
  - period [default: 100]
launch/tmcm_1633.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1633]
  - period [default: 100]
launch/tmcm_1180.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1180]
  - period [default: 100]
launch/tmcm_343.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm343]
  - period [default: 100]
launch/tmcm_1311.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1311]
  - period [default: 100]
launch/tmcm_0930.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm0930]
  - period [default: 100]
launch/tmcm_3230.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm3230]
  - period [default: 100]
launch/tmcm_1241.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1241]
  - period [default: 100]
launch/tmcm_1240.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1240]
  - period [default: 100]
launch/tmcm_1276.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1276]
  - period [default: 100]
launch/tmcm_1260.launch
- Copyright (c) 2022-2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1260]
  - period [default: 100]
launch/tmcm_1670.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1670]
  - period [default: 100]
launch/tmcm_1270.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1270]
  - period [default: 100]
launch/tmcm_3351.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm3351]
  - period [default: 100]
launch/tmcm_1378.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1378]
  - period [default: 100]
launch/tmcm_3212.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm3212]
  - period [default: 100]
launch/tmcm_1617.launch
- Copyright (c) 2022-2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm1617]
  - period [default: 100]
launch/tmcm_3110.launch
- Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.
- - ns_prefix [default: tmcm1]
  - tmcl_base_name [default: tmcm3110]
  - period [default: 100]

Messages

Services

Plugins

No plugins found.

Recent questions tagged `adi_tmcl` at Robotics Stack Exchange

API Docs Browse Code Wiki

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adi_tmcl package from adi_tmcl repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

adi_tmcl

Background

Hardware

Software

Software Architecture

Software Dependencies

Clone

Build

Pre-Launch (One-time per setup)

BLDC Motors

Calibrate the motors

Tune the PI settings of the motors

Stepper Motors

Calibrate the motors

Pre-Launch (One-time)

Initialize CAN

De-initialize CAN

Launch

Nodes

tmcl_ros_node

Published topics

Subscriber topics

Advertised services

Parameters

Communication Interface Parameters

TMC ROS Node Parameters

Motor Configuration Settings

Quick Tests

Test Velocity Mode

Test Position Mode

Test Torque Mode

Limitations

Support

Changelog for package tmcl_ros

4.0.2 (2024-11-11)

4.0.1 (2024-07-15)

4.0.0 (2023-12-13)

3.0.2 (2023-10-06)

v3.0.1-noetic (2023-09-26)

v3.0.0-noetic (2023-09-18)

v2.0.0-noetic (2023-07-26)

v1.0.2-noetic (2023-05-11)

v1.0.1-noetic (2023-02-10)

v1.0.0-noetic (2023-02-10)

Wiki Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged adi_tmcl at Robotics Stack Exchange

Recent questions tagged `adi_tmcl` at Robotics Stack Exchange