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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