Implement ROS 2 Node for Locomotion-to-Odrive Communication #18
Description
Overview
Develop a ROS 2 node that acts as an interface between a locomotion algorithm (e.g., champ) and ODrive motor controllers.
Requirements
- Accepts input from the locomotion algorithm:
- 12 joint angles, velocities, or torques.
- Sends these commands to ODrive nodes for actuation.
- Receives encoder positions from ODrive controllers.
- Sends encoder data back to the locomotion algorithm.
- Exposes ROS 2 services:
- Arm/Disarm motors
- Calibrate ODrives
- Publishes diagnostics topics related to ODrive status and node health.
Notes
- Ensure compatibility with common locomotion stacks like champ.
- Diagnostics should include error states, connection status, and calibration status.
- Structure the node for extensibility to support additional services or diagnostics in the future.