README.md

Odrive hardware interface

This package is a non-official ROS package for the Odrive S1 hardware interface using can communication and ROS2 Control. Currently, the system is able to communicate through the can bus with the Odrive and send commands to the motors using only effort (torque) commands.

Installation:

rosdep install --from-paths . -y --ignore-src --rosdistro humble
colcon build --symlink-install
source install/setup.bash

Usage:

ros2 launch odrive_hw_interface odrive.launch.py

Then, in another terminal:

ros2 launch odrive_hw_interface odrive_forward_position_controller.launch.py