Skip to content

Hardware Interface upgrades and fixes #41

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
a-cires merged 10 commits into from
Feb 4, 2026
Merged

Hardware Interface upgrades and fixes #41

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
e66aaf6
added update rate to rmd/smc, cleaned up rmd/smc, first draft servo hwi
IshanDutta11 Nov 29, 2025
396c990
working drive setup setup
IshanDutta11 Dec 2, 2025
f282ad2
populating servo hwi 1st draft
Nov 23, 2025
86da53e
some progress on stepper hardware interface
Dec 30, 2025
ec9f034
finalized initial servo hwi fixes, adjusted manual controller to impl…
Jan 20, 2026
46b769f
completed first draft of servo hwi, ready to test
Jan 23, 2026
179b273
talon hwi fixes that account for joint type (revolute or prismatic), …
Jan 23, 2026
996503f
add a logger function in all hwis
Jan 28, 2026
075aba4
fixed bug in controller and further improved hwis
IshanDutta11 Feb 3, 2026
c9811e2
talon fixes
IshanDutta11 Feb 4, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
24 changes: 10 additions & 14 deletions src/description/ros2_control/arm/arm.rmd.ros2_control.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,36 +1,32 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="rmd_ros2_control" params="name">

<ros2_control name="${name}" type="system">
<hardware>
<plugin>rmd_ros2_control/RMDHardwareInterface</plugin>
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
</hardware>

<joint name="shoulder_pitch">
<param name="node_write_id">330</param> <!--0x14A -->
<param name="node_read_id">586</param> <!--0x24A -->
<param name="node_id">0x14A</param>
<param name="gear_ratio">100</param>
<param name="joint_orientation">1.0</param>
<state_interface name="position">
<param name="initial_value">-1.0</param>
</state_interface>
<param name="operating_velocity">150</param> <!-- motor dps -->
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>

<joint name="elbow_pitch">
<param name="node_write_id">324</param> <!--0x144-->
<param name="node_read_id">580</param> <!--0x244-->
<param name="node_id">0x144</param>
<param name="gear_ratio">100</param>
<param name="joint_orientation">1.0</param>
<state_interface name="position">
<param name="initial_value">-2.0</param>
</state_interface>
<param name="operating_velocity">150</param> <!-- motor dps -->
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>

</xacro:macro>

</robot>
17 changes: 11 additions & 6 deletions src/description/ros2_control/arm/arm.servo.ros2_control.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,22 +1,27 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="servo_ros2_control" params="name">

<ros2_control name="${name}" type="system">

<hardware>
<plugin>servo_ros2_control/SERVOHardwareInterface</plugin>
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
<param name="can_id">0x80</param>
</hardware>

<joint name="actuator">
<param name="node_id">0x1</param>
<param name="gear_ratio">1</param>
<param name="max_pos">180</param> <!-- degrees -->
<param name ="meters_per_deg">0.00016666666</param> <!-- (TODO) convert motor position in degrees to displacement in meters -->
<param name="servo_type">standard</param> <!-- standard or continuous -->
<param name="joint_type">prismatic</param> <!-- revolute or prismatic -->
<command_interface name="position" />
<command_interface name="velocity"/>
<state_interface name="position" />
</joint>

</ros2_control>

</xacro:macro>

</robot>
46 changes: 16 additions & 30 deletions src/description/ros2_control/arm/arm.smc.ros2_control.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,58 +1,44 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="smc_ros2_control" params="name">

<ros2_control name="${name}" type="system">

<hardware>
<plugin>smc_ros2_control/SMCHardwareInterface</plugin>
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
</hardware>

<joint name="base_yaw">
<param name="node_id">325</param>
<param name="node_id">0x145</param>
<param name="gear_ratio">40</param>
<command_interface name="position">
<param name="min">${-2*pi}</param>
<param name="max">${2*pi}</param>
</command_interface>
<param name="operating_velocity">300</param> <!-- motor dps -->
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>

<joint name="wrist_pitch">
<param name="node_id">326</param>
<param name="node_id">0x146</param>
<param name="gear_ratio">40</param>
<command_interface name="position">
<param name="min">${-2*pi}</param>
<param name="max">${2*pi}</param>
</command_interface>
<param name="operating_velocity">1000</param> <!-- motor dps -->
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>

<joint name="wrist_roll">
<param name="node_id">327</param>
<param name="node_id">0x147</param>
<param name="gear_ratio">40</param>
<command_interface name="position">
<param name="min">${-pi}</param>
<param name="max">${pi}</param>
</command_interface>
<param name="operating_velocity">1000</param> <!-- motor dps -->
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>

</ros2_control>

</xacro:macro>

</robot>
21 changes: 8 additions & 13 deletions src/description/ros2_control/arm/arm.talon.ros2_control.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,29 +1,24 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="talon_ros2_control" params="name">

<ros2_control name="${name}" type="system">

<hardware>
<plugin>talon_ros2_control/TALONHardwareInterface</plugin>
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
</hardware>

<joint name="gripper_claw">
<param name="node_id">2</param>
<command_interface name="position">
<param name="min">0</param>
<param name="max">1</param>
</command_interface>
<param name="max_disp">0.06</param> <!-- meters -->
<param name="joint_type">prismatic</param> <!-- revolute or prismatic -->
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>

</ros2_control>

</xacro:macro>

</robot>
41 changes: 16 additions & 25 deletions src/description/ros2_control/drive/drive.rmd.ros2_control.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,67 +1,58 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="rmd_ros2_control" params="name">

<ros2_control name="${name}" type="system">
<hardware>
<plugin>rmd_ros2_control/RMDHardwareInterface</plugin>
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
</hardware>

<joint name="propulsion_fl_joint">
<param name="node_write_id">323</param> <!-- 0x143 -->
<param name="node_read_id">579</param> <!-- 0x243 -->
<param name="node_id">0x143</param>
<param name="gear_ratio">1</param>
<param name="joint_orientation">-1.0</param>
<param name="operating_velocity">150</param> <!-- motor dps -->
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>

<joint name="propulsion_fr_joint">
<param name="node_write_id">322</param> <!-- 0x142 -->
<param name="node_read_id">578</param> <!-- 0x242 -->
<param name="node_id">0x142</param>
<param name="gear_ratio">1</param>
<param name="joint_orientation">1.0</param>
<param name="operating_velocity">150</param> <!-- motor dps -->
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>

<joint name="propulsion_bl_joint">
<param name="node_write_id">321</param> <!-- 0x141 -->
<param name="node_read_id">577</param> <!-- 0x241 -->
<param name="node_id">0x141</param>
<param name="gear_ratio">1</param>
<param name="joint_orientation">-1.0</param>
<param name="operating_velocity">150</param> <!-- motor dps -->
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>

<joint name="propulsion_br_joint">
<param name="node_write_id">329</param> <!--0x149-->
<param name="node_read_id">585</param> <!--0x249-->
<param name="node_id">0x149</param>
<param name="gear_ratio">1</param>
<param name="joint_orientation">1.0</param>
<param name="operating_velocity">150</param> <!-- motor dps -->
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>

</ros2_control>

</xacro:macro>

</robot>
35 changes: 29 additions & 6 deletions src/description/ros2_control/science/science.servo.ros2_control.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,12 +1,14 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="servo_ros2_control" params="name">

<ros2_control name="${name}" type="system">

<hardware>
<plugin>servo_ros2_control/SERVOHardwareInterface</plugin>
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
<param name="can_id">0x80</param>
</hardware>

<joint name="rack_and_pinion_left">
Expand All @@ -24,30 +26,51 @@
</joint>

<joint name="scoop_a">
<param name="node_id">0x2</param>
<param name="gear_ratio">1</param>
<param name="max_pos">178</param> <!-- degrees -->
<param name="servo_type">standard</param> <!-- standard / continuous -->
<param name="joint_type">revolute</param> <!-- revolute / prismatic -->
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
</joint>

<joint name="scoop_b">
<param name="node_id">0x3</param>
<param name="gear_ratio">1</param>
<param name="max_pos">178</param> <!-- degrees -->
<param name="servo_type">standard</param> <!-- standard / continuous -->
<param name="joint_type">revolute</param> <!-- revolute / prismatic -->
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
</joint>

<joint name="auger">
<param name="node_id">0x4</param>
<param name="gear_ratio">1</param>
<param name="max_pos">90</param> <!-- degrees -->
<param name ="meters_per_deg">0.00016666666</param> <!-- (TODO) convert motor position in degrees to displacement in meters -->
<param name="servo_type">standard</param> <!-- standard / continuous -->
<param name="joint_type">prismatic</param> <!-- revolute / prismatic -->
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>

<joint name="cap">
<param name="node_id">0x5</param>
<param name="gear_ratio">1</param>
<param name="max_pos">270</param> <!-- degrees -->
<param name ="meters_per_deg">0.00016666666</param> <!-- (TODO) convert motor position in degrees to displacement in meters -->
<param name="servo_type">standard</param> <!-- standard / continuous -->
<param name="joint_type">prismatic</param> <!-- revolute / prismatic -->
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
</joint>

</ros2_control>

</xacro:macro>

</robot>
Loading