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Odrive motor controller C++ driver for ROS

License: MIT License

CMake 3.41% C++ 96.59%

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andromem shadowru cyan-at jorgemiar cesarhcq liaotaiquan farishamdi haquebd wn1980 jasilaci katealhola siemakos capitaneanu guweikai twyle zeyadash wstray

ros_odrive's Issues

Error in Reading Data from USB

The following are the error code that I have been encountering:

Device 0x205539725453 Found
"Error opening configuration file!"
Starting idle loop
"Error in reading data from USB!"

My setup:
Laptop
ROS ODrive v3.6 56V (Firmware Version: 0.5.5 and Odrivetool Version: 0.6.3)
BLDC Hub Motors

Error when attempting to send CMD_AXIS_SET_VELOCITY_DUAL

I wrote a very basic Python class to accept cmd_vel messages and translate them into odrive_ctrl messages. Upon initialization, the class sends CMD_AXIS_CLOSED_LOOP commands to both axis0, and axis1, without errors. But when I start processing cmd_vel messages, I attempt to send CMD_AXIS_SET_VELOCITY_DUAL commands, and get the following errors:

[ERROR] [1615602592.918275557]: * Error: invalid write access for axis0.controller.vel_setpoint
[ERROR] [1615602592.924280103]: * Error: invalid write access for axis1.controller.vel_setpoint

I added some logging into the odrive.cpp source, to print the values in the odrive_ctrl messages before being submitted to the motor controller.

[ INFO] [1615602599.898911961]: =====
[ INFO] [1615602599.899177059]: msg->axis    [0]
[ INFO] [1615602599.899554961]: msg->target  [0]
[ INFO] [1615602599.899742424]: msg->command [4]
[ INFO] [1615602599.900849218]: msg->fval    [0.500000]
[ INFO] [1615602599.900964039]: msg->fval2   [0.500000]
[ INFO] [1615602599.901057866]: =====

Here's the source for my Python class. Is there something in the process of setting things up that I have missed?

#!/usr/bin/env python

import rospy
from geometry_msgs.msg import Twist
from ros_odrive.msg import odrive_ctrl

class WheelDriver:

    ### Constructor ###
    def __init__(self):
      self.pub = rospy.Publisher(
        "/ros_odrive/odrive_ctrl_0x20793868304E", 
        odrive_ctrl, 
        queue_size=1)
      rospy.Subscriber("cmd_vel", Twist, self.callback)
      

    # cmd_vel Topic Subscriber Callback
    # Processes Twist messages, sending velocity commands 
    # to the ODrive 
    def callback(self, data):
        rospy.loginfo("Received Twist Message")

        msg = odrive_ctrl()
        msg.target = 0
        msg.command = 4  # CMD_AXIS_SET_VELOCITY_DUAL
        msg.fval = data.linear.x
        msg.fval2 = data.linear.x

        rospy.loginfo("Sending odrive message...")
        self.pub.publish(msg)

    # Setup method, sending CMD_AXIS_CLOSED_LOOP commands 
    # to each axis.
    def sendCACL(self):
        a0_msg = odrive_ctrl()
        a1_msg = odrive_ctrl()
       
        # Send CMD_AXIS_CLOSED_LOOP to axis0
        # Had to add this sleep call to get both messages to send.
        rospy.sleep(2) 
        rospy.loginfo("Sending CMD_AXIS_CLOSED_LOOP to axis0")
        a0_msg.target = 0
        a0_msg.command = 2
        a0_msg.axis = 0
        a0_msg.fval = 0.0
        a0_msg.fval2 = 0.0
        self.pub.publish(a0_msg)
        rospy.sleep(2)

        # Send CMD_AXIS_CLOSED_LOOP to axis1 
        rospy.loginfo("Sending CMD_AXIS_CLOSED_LOOP to axis1")
        a1_msg.target = 0
        a1_msg.command = 2
        a1_msg.axis = 1
        a1_msg.fval = 0.0
        a1_msg.fval2 = 0.0
        self.pub.publish(a1_msg)
        rospy.sleep(2)


if __name__ == '__main__':
    rospy.init_node("wheel_driver", anonymous=True)
    drvr = WheelDriver()
    drvr.sendCACL()
    rospy.spin()

[Question] What are the units of fval? Can I send commands to both motors at the same time?

Are the units of fval [count/s]? And is this the same for the vel being published?

Also, is it possible to send a velocity command to both motors at the same time? As the control message only sends 1 axis at a time.

Cannot import std_msgs

Even though, as far as I can see, within the package.xml and the cmake file std_msgs in included as a dependency, I cannot seem to be able to import "std_msgs\Float64.h" in my odrive.h file. Any suggestions ?

[Question] Controlling two odrive boards

Sorry to bug you again. I've started working on adapting your repo so I can control 4 motors at the same time whilst using ros control (so no topic subcribing/publishing). The part I'm still trying to figure out is how to send commands to two separate odrive boards.

I'm thinking of something along the lines of:

    endpoint0 = new odrive_endpoint();
    endpoint1 = new odrive_endpoint();
    odrive_endpoint *endpoint[2] = {endpoint0, endpoint1}; //Not sure if this will work

    for (i = 0; i < 2; ++i) {
    // Enumerate Odrive target
        if (endpoint[i]->init(stoull(od_sn[i], 0, 16))) //od_sn will contain two serial numbers
        {
            ROS_ERROR("Device not found!");
            return 1;
        }

        // Read JSON from target - Do I need to json files?
        if (getJson(endpoint[i], &odrive_json)) {
            return 1;
        }
        targetJsonValid = true;
    }

But I'm not sure how to deal with the odrive_json stuff. Do you think something like this would work or am I doing it completely wrong? Will setting endpoint[i] be enough to target the right odrive? or also need to save two different odrive_json?

When I write the speed to the motor it would then look like:

uint8_t motor_to_odrive_map[4] = {0, 0, 1, 1};

int ODriveDriver::setMotorSpeed(int motor_index, float motor_speed) {
    std::string cmd;

    //Get which odrive board depending on index
    i = motor_to_odrive_map[motor_index]

    //Get which axis depending on index
    cmd = "axis"
    cmd.append(std::to_string(motor_index_map_[motor_index]))
    
    //Will setting endpoint[i] be enough to target the right odrive? or also need to save two diff odrive_json?
    writeOdriveData(endpoint[i], odrive_json, cmd.append(".controller.vel_setpoint"), motor_speed);

}

You can find the changes I've made here. I think the only thing left to figure out is how to deal with the endpoint/json stuff.

Hardware Interface?

Hi!

Nice work on the driver! Looking forward to testing it at some point. Do you have any plans for implementing ros_control/robot_hardware_interface?

Errors reading ODrive via USB

I'm having difficulty getting your ROS driver up and running for my ODrive device. I've upgraded the firmware to the latest version available, and have built a configuration file for your driver that corresponds to the brushless motors I am using. But I keep getting "Error in reading data from USB" errors when the driver attempts to take values from my configuration file.

My environment is a Jetson Xavier AGX running Ubuntu 18.04, with the ROS Melodic distribution.

Here's the console output from attempting to run the driver. Is there something basic that I am missing?

robot@robot:~/echobot/src/ros_odrive/cfg$ rosrun ros_odrive ros_odrive _od_sn:="0x20793868304E" _od_cfg:="/home/robot/echobot/src/ros_odrive/cfg/odrive_15pole.json"

[ INFO] [1615160207.836033751]: Starting ODrive...
[ INFO] [1615160207.853576110]: 1 odrive instances:
[ INFO] [1615160207.855488309]:   Instance 0: SN 0x20793868304E - cfg /home/robot/echobot/src/ros_odrive/cfg/odrive_15pole.json
[ INFO] [1615160207.878449509]: Device 0x20793868304E Found
/home/robot/echobot/src/ros_odrive/cfg/odrive_15pole.json[ INFO] [1615160208.223289145]: Setting config.brake_resistance config value
[ERROR] [1615160208.430103709]: * Error in reading data from USB!
[ INFO] [1615160208.431449138]: Setting axis0.motor.config.pole_pairs config value
[ERROR] [1615160208.639965577]: * Error in reading data from USB!
[ INFO] [1615160208.641430889]: Setting axis0.motor.config.resistance_calib_max_voltage config value
[ERROR] [1615160208.850340739]: * Error in reading data from USB!
[ INFO] [1615160208.852292812]: Setting axis0.motor.config.calibration_current config value
[ERROR] [1615160209.060455191]: * Error in reading data from USB!
[ INFO] [1615160209.062538348]: Setting axis0.motor.config.requested_current_range config value
[ERROR] [1615160209.270971940]: * Error in reading data from USB!
[ INFO] [1615160209.272920525]: Setting axis0.motor.config.current_control_bandwidth config value
[ERROR] [1615160209.481454030]: * Error in reading data from USB!
[ INFO] [1615160209.483429273]: Setting axis0.encoder.config.mode config value
[ERROR] [1615160209.490033365]: Error value for axis0.encoder.config.mode is not int
[ INFO] [1615160209.490870109]: Setting axis0.encoder.config.cpr config value
[ERROR] [1615160209.699083395]: * Error in reading data from USB!
[ INFO] [1615160209.700920994]: Setting axis0.motor.config.current_lim config value
[ERROR] [1615160209.909447714]: * Error in reading data from USB!
[ INFO] [1615160209.911773484]: Setting axis0.encoder.config.bandwidth config value
[ERROR] [1615160210.119944817]: * Error in reading data from USB!
[ INFO] [1615160210.122149359]: Setting axis0.controller.config.pos_gain config value
[ERROR] [1615160210.330863593]: * Error in reading data from USB!
[ INFO] [1615160210.333186609]: Setting axis0.controller.config.vel_gain config value
[ERROR] [1615160210.541198478]: * Error in reading data from USB!
[ INFO] [1615160210.543412397]: Setting axis0.controller.config.vel_integrator_gain config value
[ERROR] [1615160210.752319896]: * Error in reading data from USB!
[ INFO] [1615160210.754663202]: Setting axis0.controller.config.vel_limit config value
[ERROR] [1615160210.963045535]: * Error in reading data from USB!
[ INFO] [1615160210.965538838]: Setting axis0.controller.config.control_mode config value
[ERROR] [1615160210.972245337]: Error value for axis0.controller.config.control_mode is not int
[ INFO] [1615160210.973168072]: Setting axis0.encoder.config.calib_range config value
[ERROR] [1615160211.179116676]: * Error in reading data from USB!
[ INFO] [1615160211.181885682]: Setting axis1.motor.config.pole_pairs config value
[ERROR] [1615160211.390151406]: * Error in reading data from USB!
[ INFO] [1615160211.392601633]: Setting axis1.motor.config.resistance_calib_max_voltage config value
[ERROR] [1615160211.602441508]: * Error in reading data from USB!
[ INFO] [1615160211.605069607]: Setting axis1.motor.config.calibration_current config value
[ERROR] [1615160211.813062475]: * Error in reading data from USB!
[ INFO] [1615160211.815455001]: Setting axis1.motor.config.requested_current_range config value
[ERROR] [1615160212.023849148]: * Error in reading data from USB!
[ INFO] [1615160212.026118334]: Setting axis1.motor.config.current_control_bandwidth config value
[ERROR] [1615160212.234682237]: * Error in reading data from USB!
[ INFO] [1615160212.237353282]: Setting axis1.encoder.config.mode config value
[ERROR] [1615160212.243928950]: Error value for axis1.encoder.config.mode is not int
[ INFO] [1615160212.244790176]: Setting axis1.encoder.config.cpr config value
[ERROR] [1615160212.450756703]: * Error in reading data from USB!
[ INFO] [1615160212.453396482]: Setting axis1.motor.config.current_lim config value
[ERROR] [1615160212.661290439]: * Error in reading data from USB!
[ INFO] [1615160212.665451372]: Setting axis1.encoder.config.bandwidth config value
[ERROR] [1615160212.873871902]: * Error in reading data from USB!
[ INFO] [1615160212.876137632]: Setting axis1.controller.config.pos_gain config value
[ERROR] [1615160213.083520355]: * Error in reading data from USB!
[ INFO] [1615160213.085792486]: Setting axis1.controller.config.vel_gain config value
[ERROR] [1615160213.297220322]: * Error in reading data from USB!
[ INFO] [1615160213.299695349]: Setting axis1.controller.config.vel_integrator_gain config value
[ERROR] [1615160213.508536404]: * Error in reading data from USB!
[ INFO] [1615160213.510968420]: Setting axis1.controller.config.vel_limit config value
[ERROR] [1615160213.719437123]: * Error in reading data from USB!
[ INFO] [1615160213.722248020]: Setting axis1.controller.config.control_mode config value
[ERROR] [1615160213.728114537]: Error value for axis1.controller.config.control_mode is not int
[ INFO] [1615160213.729065178]: Setting axis1.encoder.config.calib_range config value
[ERROR] [1615160213.935267160]: * Error in reading data from USB!
[ERROR] [1615160213.945266063]: Error value for axis0.requested_state is not int

johnkok / ros_odrive Goto Github PK

ros_odrive's People

Contributors

Stargazers

Watchers

Forkers

ros_odrive's Issues

Error in Reading Data from USB

Error when attempting to send CMD_AXIS_SET_VELOCITY_DUAL

[Question] What are the units of fval? Can I send commands to both motors at the same time?

Cannot import std_msgs

[Question] Controlling two odrive boards

Hardware Interface?

Errors reading ODrive via USB

[Question] Can I use this for a skid steer robot (4 motors)?

Rate of feedback from Odrive

Can't open .json configuration files

Issue with firmware 5.1

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