/rdda_avatar

rdda_avatar for ros2 humble.

Primary LanguageC++

RDDA Interface for ROS2

This repository contains the ROS2 interface for grippers and gloves, utilizing the RDDA Control Library. It's designed to work with ROS2 Humble on Ubuntu 20.04.

Installation

This package has been tested on Ubuntu 20.04 with ROS2 Humble.

  1. Install the RDDA Control Library in your workspace:

git clone -b avatar_final https://github.com/RoboticsCollaborative/RDDA.git

  1. Install this package in your workspace: git clone https://github.com/adeeb10abbas/rdda_avatar.git

  2. Build your workspace: colcon build

Requirements

  1. ROS2 Humble
  2. RDDA Control Library

Features

  • Synchronization of joint states and command references between high-level ROS nodes and low-level controller.
  • Dynamic parameter tuning (e.g., max velocity/torque and stiffness).
  • Data collection and visualization capabilities.

Joint Control

Subscribe to the "rdda_interface/joint_states" topic to obtain the following joint states:

  • position: Joint angles w.r.t. motor coordinates (radians).
  • velocity: Joint velocities w.r.t. motor coordinates (radians/second).
  • effort: External torque/force (Nm).

Publish joint reference positions to the "rdda_interface/joint_cmds" topic:

  • positions: Joint reference positions (radians).

Parameter Tuning

Use ROS2 services to adjust dynamic parameters at runtime:

  • Velocity saturation: /rdda_interface/set_max_vel (radians/second)
  • Effort/torque saturation: /rdda_interface/set_max_eff (Nm)
  • Stiffness: /rdda_interface/set_stiff (Nm/rad)

Data Collection & Visualization

Monitor streaming data using tools like PlotJuggler.