odrive-ros2-node

ROS2-Nodes for ODrive

Features

• Polls odrive velocity, motor_position, applied voltage, odrive temperature and applied torque
• Sets desired velocity
  • Directly or from geometry_msgs.msg.Twist
• Uses Checksum when communicating with ODrive
• Use wheel dist, gear ratio and wheel circumference
• Odrive init/calibration node
• Shares transformations and messages required by the Nav2 stack
• Launch file

Start with launch file

ros2 launch odrive_odom odrive_launch.py

odrive_node

Polling rate

• node polls one value every 10ms
• request priority sets priority in poll-list using modulo (0 -- 99)

Example

• priority_bus_voltage = 1, priority_temperature = 2
• output:
• counter 0:
  • (@10ms)bus_voltage
• counter 1:
  • (@20ms)bus_voltage
  • (@30ms)temperature
• counter 3:
  • (@40ms)bus_voltage
• counter 4:
  • (@50ms)bus_voltage
  • (@60ms)temperature
• ...

Topics

• publishes:

• • <std_msgs/Float32>"/odrive_bus_voltage"
• • <std_msgs/Float32>"/odrive0_velocity"
• • <std_msgs/Float32>"/odrive0_position"
• • <std_msgs/Float32>"/odrive0_temperature"
• • <std_msgs/Float32>"/odrive0_torque"

• • <std_msgs/Float32>"/odrive1_velocity"
• • <std_msgs/Float32>"/odrive1_position"
• • <std_msgs/Float32>"/odrive1_temperature"
• • <std_msgs/Float32>"/odrive1_torque"

• • <geometry_msgs/TwistStamped>"/odrive_odom_velocity"

• set priority to 0 to disable topic

listens to:

• <std_msgs/Float32>"/odrive0_set_velocity"
• <std_msgs/Float32>"/odrive1_set_velocity"
• <geometry_msgs/Twist>"/odrive_cmd_velocity"

Usage

• ros2 run odrive_node odrive_node
• set motor variable to 0 (default), 1, or 2 to set both to active
• set priority from 0 to 99
• set wheel_dist [meters]
• set gear_ratio [meters/rad] = gear ratio * wheel circumference
• (set to defaults)
• • ros2 run odrive_node odrive_node --ros-args --remap __ns:=/ -p port:='/dev/ttyS1' -p motor:=0 -p priority_position_velocity:=1 -p priority_bus_voltage:=2 -p priority_temperature:=3 -p priority_torque:=4

Dependencies

• rclcpp
• std_msgs
• geometry_msgs

odrive_odom

• Initialize Odrive
• • ros2 run odrive_odom init
• Publish encoder odometry
• • ros2 run odrive_odom odom