odrive_ros2

ROS2 node for ODrive (Firmware version >= v0.5.1)

Installation Instructions

Install ODrive tools

ODrive Docs

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