Describe the bug
The chassis package needs to be updated to interface with the ODrive motor controllers we are now using. The package currently interfaces with the old RoboteQ motor controllers.
Expected behavior
The programs contained in the package should interface with the ODrives using CAN. The ODrives should be able to work in both closed and open loop modes and drive at accurate velocities and to accurate positions.
Additional information
The ODrives have a ROS package (https://github.com/neomanic/odrive_ros) that needs updating. This package could serve as reference to our custom package.
Describe the bug
The chassis package needs to be updated to interface with the ODrive motor controllers we are now using. The package currently interfaces with the old RoboteQ motor controllers.
Expected behavior
The programs contained in the package should interface with the ODrives using CAN. The ODrives should be able to work in both closed and open loop modes and drive at accurate velocities and to accurate positions.
Additional information
The ODrives have a ROS package (https://github.com/neomanic/odrive_ros) that needs updating. This package could serve as reference to our custom package.