odrive-ros2
Figure: odrive_ros2 node diagram.
Summary
The odrive_ros2 enables the user to request ODrive axis state changes, publish velocity references for both axis, and subscribe to the position and velocity feedback from the encoders on both axis.
Usage
Run:
ros2 run odrive_ros2 odrive_ros2
Interfaces
Publishers
Topic |
Message type |
Description |
|---|---|---|
axis0/vel |
std_msgs/Float32 |
Axis0 velocity, in rad/s. |
axis1/vel |
std_msgs/Float32 |
Axis1 velocity, in rad/s. |
Subscribers
Topic |
Message type |
Description |
|---|---|---|
axis0/vel_ref |
std_msgs/Float32 |
Axis0 velocity reference, in rad/s. |
axis1/vel_ref |
std_msgs/Float32 |
Axis1 velocity reference, in rad/s. |
Services
Topic |
Message type |
Description |
|---|---|---|
request_state |
odrive_interfaces/AxisState |
Set ODrive axis control state. |