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README for ODrive_CAN ROS2 Package

Overview

The odrive_can package serves as a ROS2 interface, streamlining interactions and control mechanisms with the ODrive motor controller through the CAN communication protocol. Incorporating lifecycle management, this node efficiently manages data exchanges and control operations. It offers a range of ROS2 services for control tasks while employing ROS2 publishers for instantaneous data tracking and surveillance. When integrated with a lifecycle manager, this node has the ability to automatically restart if any issues arise.

Features

• ROS2 Lifecycle management for robust initialization, configuration, and shutdown.
• Communication with ODrive using the CAN protocol.
• ROS2 Services for various control actions like rebooting, clearing errors, setting gains, and setting the axis state.
• ROS2 Publishers for real-time reporting of sensor data like bus voltage, temperature, encoder values, torque, and current (IQ).

Prerequisites

1. ROS2 (Tested on Humble Hawksbill)
2. ODrive Motor Controller with CAN protocol support

Installation

Clone this repository into your ROS2 workspace src/ directory and build using colcon:

cd ~/ros2_ws/src/
git clone [repository_url] odrive_can
cd ..
colcon build --packages-select odrive_can

Source the workspace:

source ~/ros2_ws/install/setup.bash

How to Use

To launch the ODrive node, execute:

ros2 run odrive_can odrive_can_node

or set up your own composable container look at :

odrive_can/launch/odrive_composable.launch.py

Topics and Services

Topics In (Subscribers)

Topic Name	Message Type	Description	Callback Method
/from_can_bus	can_msgs::msg::Frame	Receives CAN bus frames	odrive_node::can_callback
frame_id_ + "/target"	odrive_interfaces::msg::Target	Receives target position, velocity, and torque	odrive_node::target_callback

Topics Out (Publishers)

Topic Name	Message Type	Description
frame_id_ + "/bus_voltage"	odrive_interfaces::msg::BusVoltage	Publishes bus voltage data
/to_can_bus	can_msgs::msg::Frame	Publishes CAN bus frames
frame_id_ + "/temperature"	odrive_interfaces::msg::Temperature	Publishes temperature data
frame_id_ + "/sensor"	odrive_interfaces::msg::OdriveSensor	Publishes sensor data including encoder, iq, and torque

Services

Service Name	Service Type	Description
frame_id_ + "/reboot"	odrive_interfaces::srv::Reboot	Reboots the ODrive system
frame_id_ + "/clear_errors"	odrive_interfaces::srv::ClearErrors	Clears ODrive errors
frame_id_ + "/set_pos_gain"	odrive_interfaces::srv::SetPosGain	Sets position gains for control loop
frame_id_ + "/set_vel_gains"	odrive_interfaces::srv::SetVelGains	Sets velocity gains for control loop
frame_id_ + "/set_axis_state"	odrive_interfaces::srv::SetAxisState	Sets the state for a specific axis

Parameters

Parameter Name	Default Value	Description
node_id	0	Node identifier. Used to generate frame_id as "odrive"+node_id
control_mode	0x2	Mode of control
input_mode	0x2	Mode of input
velocity_limit	25.0	Velocity limit
current_limit	10.0	Current limit
traj_vel_limit	25.0	Trajectory velocity limit
traj_accel_limit	25.0	Trajectory acceleration limit
traj_deaccel_limit	25.0	Trajectory deacceleration limit
traj_inertia	25.0	Trajectory inertia
gear_ratio	20.0	Gear ratio

Extended Message Types Information Table

Message Type	Direction	Description	Fields
odrive_interfaces::msg::BusVoltage	Outgoing	Represents the bus voltage and current information	std_msgs/Header header, std_msgs/Float32 bus_volt, std_msgs/Float32 bus_current
odrive_interfaces::msg::Temperature	Outgoing	Represents the temperature data	std_msgs/Header header, std_msgs/Float32 fet_temp, std_msgs/Float32 motor_temp
odrive_interfaces::msg::OdriveSensor	Outgoing	Includes encoder, iq, and torque data	odrive_interfaces/Torque torque, odrive_interfaces/Encoder encoder, odrive_interfaces/Iq iq
can_msgs::msg::Frame	Incoming/Outgoing	Represents a CAN bus frame	Standard CAN fields
odrive_interfaces::msg::Target	Incoming	Represents target control instructions	std_msgs/Header header, std_msgs/Float32 pos_des, std_msgs/Float32 vel_des, std_msgs/Float32 torque_des

Sub-messages:

• odrive_interfaces::msg::Encoder

  • std_msgs/Header header
  • std_msgs/Float32 pos
  • std_msgs/Float32 vel

• odrive_interfaces::msg::Iq

  • std_msgs/Header header
  • std_msgs/Float32 iq_des
  • std_msgs/Float32 iq_est

• odrive_interfaces::msg::Torque

  • std_msgs/Header header
  • std_msgs/Float32 torque_des
  • std_msgs/Float32 torque_est

Note:

• "Outgoing" means the message is published by this node.
• "Incoming" means the message is subscribed to by this node.

Contributing

Contributions are welcome through pull requests. If you encounter any issues or have suggestions, please open an issue on the repository.

License

This package is distributed under MIT License.

This readme was generated by ChatGpt.

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