cybergear_socketcan_driver

This package provides functionality to control CyberGear using CAN frame messages.

The control inputs are compatible with the following:

• Position control
• Velocity control
• Torque control (Current control)

Basic Usage

To execute position control, run the following command:

ros2 run cybergear_socketcan_driver cybergear_position_driver_node

When launched, it listens for topics as follows:

/cybergear_position_driver
  Subscribers:
    /from_can_bus: can_msgs/msg/Frame
    /joint_trajectory: trajectory_msgs/msg/JointTrajectory
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /cybergear_position_driver/joint_state: sensor_msgs/msg/JointState
    /cybergear_position_driver/temperature: sensor_msgs/msg/Temperature
    /diagnostics: diagnostic_msgs/msg/DiagnosticArray
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
    /to_can_bus: can_msgs/msg/Frame
  Service Servers:
    /cybergear_position_driver/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /cybergear_position_driver/enable_torque: std_srvs/srv/SetBool
    /cybergear_position_driver/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /cybergear_position_driver/get_parameters: rcl_interfaces/srv/GetParameters
    /cybergear_position_driver/list_parameters: rcl_interfaces/srv/ListParameters
    /cybergear_position_driver/set_parameters: rcl_interfaces/srv/SetParameters
    /cybergear_position_driver/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
    /cybergear_position_driver/zero_position: std_srvs/srv/Trigger

Calling the ~/enable_torque service toggles the torque of the CyberGear on or off. Sending a /joint_trajectory topic executes position control. Please refer to the parameters for the joint names at this time.

Environment

The intended operating environment on the following:

graph RL;
  subgraph linux
    cybergear_position_driver([cybergear_position_driver])
    socket_can_receiver([socket_can_receiver])
    socket_can_sender([socket_can_sender])
    can0((can0))
  end
  subgraph devices
    cybergear[CyberGear]
    can_to_usb[CAN to USB]
  end
  cybergear ---|CAN| can_to_usb
  can_to_usb ---|USB| can0
  socket_can_sender --> can0
  can0 --> socket_can_receiver
  cybergear_position_driver -->|to_can_bus| socket_can_sender
  socket_can_receiver -->|from_can_bus| cybergear_position_driver

Dependencies

In addition to the ROS 2 core packages, this package depends on the following:

• generate_parameter_library
• ros2_socketcan

Control Mode

The command values transmitted to CyberGear for each node are shown below.

• cybergear_default_driver_node

  position, velocity, effort

• cybergear_position_driver_node

  position

• cybergear_velocity_driver_node

  velocity

• cybergear_torque_driver_node

  effort

Parameters

Please refer to node_parameters.md for the parameters.