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Feature/pm 527 cpp client side odrive first setup #4
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…ese with proper CMakeLists.txt and package.xml. The CMakeLists.txt and package.xml hold the configurations to communicate with the Odrive over the USB connection
…erial connection in order to communicate with the odrive. It also has a march_odrive.json which has some general configuration and gives the operator basic knowledge on how to use the configuration file. The enums can be used to translate data for and to the odrive.
… start the odrive properly. The odrive_msg.msg is later used to publish data from the odrive into a rostopic. The odrive.cpp has a general main which connects to an odrive with specified serial number and starts a loop
…research into feature/PM-527-cpp-client-side-odrive
JorisWeeda
changed the title
It uses the odrive_endpoint in order to communicate over the usb connection. The utils remain unused but will be integrated later on.
…tional dependecies
…library combination for the libusb-1.0
… libusb-1.0 in the include directories.
…onfiguration. These are used in a test file which is located in the test folder
Also reformatted the OdriveEndpoint class to be better readable.
…p-client-side-odrive
…oltage is read and published to a topic
…to the odrive_interface_test.cpp
Roelemans
suggested changes
Jul 29, 2020
…axis specific parameters.
Roelemans
suggested changes
Aug 8, 2020
Roelemans
approved these changes
Aug 12, 2020
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Closes PM-527
Description
With this PR it should be possible to control the Odrive using CPP-code and later on ROS control. It is based on the native communication protocol which is also used by the official odrivetool shell. This is accomplished by writing a usb driver to send and receive data over the TX/RX communication line of the odrive.
Within this PR a basic program is included to publish data from the Odrive to a ROS topic to generaly display the usage and functionalities of the program. The Json file consists of the default configurations which are set during the startup sequence.
Changes