History

Bill Finger 8525854579 Refactor ROS2 actuator with improved CAN handling and logging - Introduced `rclcpp::Logger` for consistent logging throughout `RbsServoActuator`. - Renamed joint state and command variables to `hw_joint_angle`, `hw_joint_velocity`, `hw_joint_target_angle`, and `hw_joint_target_velocity` for clarity. - Added parameters `can_interface` and `can_node_id`, allowing configurable CAN interface and node ID. - Enhanced CAN initialization and error handling in `on_init` to properly retrieve interface index and bind the socket. - Implemented structured CAN message handling: - Sends activation command when the actuator is enabled. - Reads and logs incoming CAN frames for joint state updates. - Ensures error handling for failed read/write operations. - Updated URDF (`simple_robot.urdf`) to include `can_interface` and `can_node_id` parameters for hardware configuration.	2025-02-04 13:41:56 +03:00
..
src	Refactor ROS2 actuator with improved CAN handling and logging	2025-02-04 13:41:56 +03:00
README.md	ADDED: naive control implementation from RO2 for a robot roller motor	2024-05-24 10:57:24 +00:00

Bill Finger 8525854579 Refactor ROS2 actuator with improved CAN handling and logging

- Introduced `rclcpp::Logger` for consistent logging throughout `RbsServoActuator`.
- Renamed joint state and command variables to `hw_joint_angle`, `hw_joint_velocity`, `hw_joint_target_angle`, and `hw_joint_target_velocity` for clarity.
- Added parameters `can_interface` and `can_node_id`, allowing configurable CAN interface and node ID.
- Enhanced CAN initialization and error handling in `on_init` to properly retrieve interface index and bind the socket.
- Implemented structured CAN message handling:
  - Sends activation command when the actuator is enabled.
  - Reads and logs incoming CAN frames for joint state updates.
  - Ensures error handling for failed read/write operations.
- Updated URDF (`simple_robot.urdf`) to include `can_interface` and `can_node_id` parameters for hardware configuration.

2025-02-04 13:41:56 +03:00

src

Refactor ROS2 actuator with improved CAN handling and logging

2025-02-04 13:41:56 +03:00

README.md

ADDED: naive control implementation from RO2 for a robot roller motor

2024-05-24 10:57:24 +00:00

README.md

ROS 2 пакеты для управления двигателем

Пререквизиты

ROS 2 Humble

Сборка и запуск ROS2 пакета

colcon build --symlink-install

source install/setup.bash

ros2 launch rbs_servo_test startup.launch.py

Посмотреть состояние топиков:

ros2 topic echo /joint_states