ENGLISH / 中文
ODrive driver for ros2_control
- ROS Foxy
- ODrive Firmware v0.5.1 (subsequent versions will be supported soon)
- Support native protocol on USB
- Support position, speed, torque commands
- Support position, speed, torque feedbacks
- Support control mode switch
- Unit conversion adheres to REP-103
- Support using any or both of axes on a single ODrive
- Allow two axes running in different control modes
- Auto watchdog feeding
- Support using multiple ODrives
- Support serial port and CAN
- Support sensorless mode
- Support feedforward control inputs
- Automatic configuration of ODrives based on URDF and YAML files
- Safety improvements
- Wiki page