ros2_control的ODrive驱动程序C++_Python_下载

# odrive_ros2_control ENGLISH / [中文](<README_CN.md>) ## Introduction ODrive driver for ros2_control ## Compatibility | | ROS 2 Foxy Fitzroy | ROS 2 Humble Hawksbill | |---|---|---| | ODrive Firmware v0.5.3 | [foxy-fw-v0.5.3](../../tree/foxy-fw-v0.5.3) | [humble-fw-v0.5.3](../../tree/humble-fw-v0.5.3) | | ODrive Firmware v0.5.1 | [foxy-fw-v0.5.1](../../tree/foxy-fw-v0.5.1) | [humble-fw-v0.5.1](../../tree/humble-fw-v0.5.1) | ## Documentation - [Wiki](https://github.com/Factor-Robotics/odrive_ros2_control/wiki/Documentation) ## Done - [x] Support native protocol on USB - [x] Support position, speed, torque commands - [x] Support position, speed, torque feedbacks - [x] Support using multiple ODrives - [x] Support smooth switching of control modes - [x] Unit conversion adheres to [REP-103](<https://www.ros.org/reps/rep-0103.html>) - [x] Support using any or both of axes on each ODrive - [x] Allow multiple axes running in different control modes - [x] Provide sensor data (error, voltage, temperature) - [x] Auto watchdog feeding ## Todo - [ ] Support serial port and CAN - [ ] Support feedforward control inputs - [ ] Automatic configuration of ODrives based on URDF and YAML files