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Repository Summary
| Description | ROS2 node for ODrive |
| Checkout URI | https://github.com/skymaze/odrive_ros2.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-09-08 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | ros2 odrive |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| odrive_ros2 | 0.0.1 |
README
odrive_ros2
ROS2 node for ODrive (Firmware version >= v0.5.1)
Installation Instructions
Install ODrive tools
Install from source
# Create workspace
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
# Get node
git clone https://github.com/skymaze/odrive_ros2.git
# Get interface
git clone https://github.com/skymaze/odrive_interfaces.git
# Build
cd ~/ros2_ws
colcon build
Usage Instructions
Start odrive node
source ~/ros2_ws/install/local_setup.bash
# To launch with "ros2 run"
ros2 run odrive_ros2 odrive_node
Parameters
- connection.timeout
- battery.max_voltage
- battery.min_voltage
- battery.topic
- joint_state.topic
Topics
- barrery_percentage
- joint_state
Services
- connect_odrive
- request_state
- position_cmd
- velocity_cmd
CONTRIBUTING
No CONTRIBUTING.md found.
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