Lynx Motor Driver

C++ Driver and ROS 2 node for Clearpath’s Lynx BLDC motor controller.

Clearpath Platforms using Lynx

• Husky A300

Usage

This driver will be automatically launched when using the Clearpath Config system.

Manual launch

ros2 launch lynx_motor_driver lynx_motor_driver.launch.py can_bus:=my_can0 namespace:=/my_namespace parameters:=/path/to/my/parameters.yaml

Launch arguments

• can_bus: CAN bus interface to use.
  • Default: can0
• namespace: Robot namespace.
  • Default: /
• parameters: Node parameters.
  • Default: lynx_motor_driver/config/single_test.yaml

Node

The Lynx motor node will create a driver for each specified motor controller. It will subscribe to velocity commands coming from ROS 2 controls, and publish feedback and status data it receives from the Lynx controllers. It also manages the system protection state.

Additionally, the Lynx motor node can be used to calibrate the motors, and update firmware to the Lynx motor controller.

Subscribers

• platform/motors/cmd: Velocity commands to send to the motor controller. Joint name must match parameters.
  • Type: sensor_msgs/msg/JointState

Publishers

• platform/motors/system_protection: System and individual motor controller protection states.
  • Type: clearpath_motor_msgs/msg/LynxSystemProtection
• platform/motors/feedback: Motor feedback such as current, voltage, and velocity.
  • Type: clearpath_motor_msgs/msg/LynxMultiFeedback
• platform/motors/status: Motor statuses such as temperature, and flags.
  • Type: clearpath_motor_msgs/msg/LynxMultiStatus

Actions

• platform/motors/calibrate: Run the calibration sequence on each motor controller.

  • Type: clearpath_motor_msgs/action/LynxCalibrate

  • Usage: ros2 action send_goal /platform/motors/calibrate clearpath_motor_msgs/action/LynxCalibrate {} --feedback

:warning: The robot must be placed on a box and off the ground before running this action. The wheels will begin to turn when it is called.

• platform/motors/update: Update each motor controller with a binary file.

  • Type: clearpath_motor_msgs/action/LynxUpdate

  • Usage: ros2 action send_goal /platform/motors/update clearpath_motor_msgs/action/LynxUpdate "file: ''" --feedback

:warning: Only use Clearpath verified binary files. Attempting to flash custom files can render the Lynx motor controller non-functional. Leave the file field empty to use the default binary.

Changelog for package lynx_motor_driver

2.2.3 (2025-03-20)

2.2.2 (2025-03-17)

• [clearpath_motor_drivers/lynx_motor_driver] Change action log to debug. (#171)
• Contributors: Tony Baltovski

2.2.1 (2025-03-12)

2.2.0 (2025-03-11)

• Lynx Warning flags (#151)
  • Added warning flags
  • Updated diagnostics for warning flags
  • Updated binary
• Added Lynx motor driver diagnostics (#149)
  • Removed trailing spaces
  • Added Lynx motor diagnostics
• Contributors: Hilary Luo, Roni Kreinin

2.1.2 (2025-02-28)

2.1.1 (2025-02-06)

2.1.0 (2025-01-31)

• Lynx updates (#139)
  • Wildcard for binary file name
  • Don't queue CAN messages
• Contributors: Roni Kreinin

2.0.4 (2025-01-22)

• Multiply feedback velocity by wheel direction (#132)
• Contributors: Roni Kreinin

2.0.3 (2025-01-17)

2.0.2 (2025-01-17)

• [clearpath_motor_drivers/lynx_motor_driver] Added rclcpp_action as dep.
• Contributors: Tony Baltovski

2.0.1 (2025-01-17)

• [clearpath_motor_drivers/lynx_motor_driver] Fixed required version of clearpath_motor_msgs.
• Contributors: Tony Baltovski

2.0.0 (2025-01-17)

• CAN bootloader fixes (#112)
  • Send boot request to all drivers on action start
  • Removed first ack check
  • Added Ack counter
  • Resend data if counters dont match
  • Make app counter a private variable of driver
  • Re-attempt entering bootloader and alive check 5 times before skipping
  • Fix for skipping unresponsive Lynx's
  • Removed whitespace
• A300 (#106)
  • Added lynx hardware interface

  * Lynx motor driver Rename clearpath_platform namespace to clearpath_hardware_interfaces

  • Added A300 and Inventus battery to generator
  • A300 lighting
  • Dependencies and README
  • Rename platform to hardware_interfaces in hardware.xml
  • Fix append of bms in generator

  * Removed wheel_joints_ map ---------Co-authored-by: Luis Camero <<lcamero@clearpathrobotics.com>>

• Contributors: Roni Kreinin
• CAN bootloader fixes (#112)
  • Send boot request to all drivers on action start
  • Removed first ack check
  • Added Ack counter
  • Resend data if counters dont match
  • Make app counter a private variable of driver
  • Re-attempt entering bootloader and alive check 5 times before skipping
  • Fix for skipping unresponsive Lynx's
  • Removed whitespace
• A300 (#106)
  • Added lynx hardware interface

  * Lynx motor driver Rename clearpath_platform namespace to clearpath_hardware_interfaces

  • Added A300 and Inventus battery to generator
  • A300 lighting
  • Dependencies and README
  • Rename platform to hardware_interfaces in hardware.xml
  • Fix append of bms in generator

  * Removed wheel_joints_ map ---------Co-authored-by: Luis Camero <<lcamero@clearpathrobotics.com>>

• Contributors: Roni Kreinin

1.0.1 (2024-11-28)

1.0.0 (2024-11-26)

0.3.2 (2024-10-04)

0.2.15 (2024-08-12)

0.2.14 (2024-08-08)

0.2.13 (2024-07-30)

0.2.12 (2024-07-22)

0.2.11 (2024-05-28)

0.2.10 (2024-05-16 17:09)

0.2.9 (2024-05-16 12:19)

0.2.8 (2024-05-14)

0.2.7 (2024-04-10)

0.2.6 (2024-04-08)

0.2.5 (2024-03-07)

0.2.4 (2024-01-19)

0.2.3 (2024-01-18)

0.2.2 (2024-01-10)

0.2.1 (2023-12-18)

0.2.0 (2023-12-13)

0.1.3 (2023-10-04)

0.1.2 (2023-09-27)

0.1.1 (2023-09-11)

0.1.0 (2023-08-31)

0.0.3 (2023-08-15)

0.0.2 (2023-07-25)

0.0.1 (2023-07-20)