ENGLISH / 中文
ODrive driver for ros2_control
| ROS 2 Foxy Fitzroy | ROS 2 Humble Hawksbill | |
|---|---|---|
| ODrive Firmware v0.5.3 | foxy-fw-v0.5.3 | humble-fw-v0.5.3 |
| ODrive Firmware v0.5.1 | foxy-fw-v0.5.1 | humble-fw-v0.5.1 |
- Support native protocol on USB
- Support position, speed, torque commands
- Support position, speed, torque feedbacks
- Support using multiple ODrives
- Support smooth switching of control modes
- Unit conversion adheres to REP-103
- Support using any or both of axes on each ODrive
- Allow multiple axes running in different control modes
- Provide sensor data (error, voltage, temperature)
- Auto watchdog feeding
- Support serial port and CAN
- Support feedforward control inputs
- Automatic configuration of ODrives based on URDF and YAML files