ROS2 Control

Hardware Interface

This package provides multiple hardware interfaces for testing. Mainly the following:

canopen_ros2_control/CanopenSystem: A system interface for ProxyDrivers
canopen_ros2_control/Cia402System: A system interface for Cia402Drivers
canopen_ros2_control/Cia402RobotSystem: A system interface for Cia402Drivers in a robot configuration (under development)

Robot System Interface

The robot system interface takes a number of inputs from the robot description (urdf). It will make the Cia402Drivers available via the ros2_control hardware interface. The bus has to still be defined in the bus.yml file. In the urdf you can the choose the CANopen nodes that have a Cia402Driver attached to them.

The ros2_control interface only works with non-lifecycle drivers right now. For each joint in your urdf you can choose the attached CANopen device by using the node_id parameter. The node_id parameter is the CANopen node id of the device.

<ros2_control name="${name}" type="system">
    <hardware>
        <plugin>canopen_ros2_control/Cia402RobotSystem</plugin>
        <param name="bus_config">[path to bus.yml]</param>
        <param name="master_config">[path to master.dcf]</param>
        <param name="can_interface_name">[can interface to be used]</param>
        <param name="master_bin">[master.bin if it exists]</param>
    </hardware>
    <joint name="joint1">
        <param name="node_id">3</param>
        ...
    </joint>
    <joint name="joint2">
        <param name="node_id">3</param>
        ...
    </joint>
</ros2_control>

Note

You can find an example for the configuration in the canopen_tests package under robot_control.

ROS2 Controllers

This package provides multiple controllers for testing. Mainly the following:

canopen_ros2_controllers/Cia402RobotController: Works with Robot System Interface
canopen_ros2_controllers/Cia402DeviceController: Works with Cia402System
canopen_ros2_controllers/CanopenProxyController: Works with CanopenSystem and Cia402System

Robot Controller

The robot controller enables bringing up the different joints of the robot automatically by using the ros2_controller lifecycle. There is no need for further action, once the controller is activated, the drives are ready to be used.

The robot controller can be configured in the ros2_controllers.yaml with the following parameters:

robot_controller:
    ros__parameters:
        joints:  # joints that are controlled by the controller
        - joint1
        - joint2
        operation_mode: 1 # operation mode of the controller
        command_poll_freq: 5 # frequency with which the controller polls for command feedback