CANdle ROS2

CANdle ROS2#

CANdle ROS2 is a ROS 2 package that provides communication interfaces and runtime control nodes for MD motor controllers and the PDS power delivery system developed by MAB Robotics.

The package has been tested with the following ROS 2 distributions:

  • Humble

  • Jazzy

It is verified on Linux-based systems including Ubuntu and Debian.

Two main nodes are available:

  • md_node — operational control of MD motor drives

  • pds_node — operational control and monitoring of PDS devices and their modules

Features#

MD Node#

  • Control MD drive controllers

  • Publish joint state data

  • Accept position, velocity, motion, and impedance commands

  • Provide services for:

    • enabling/disabling drives

    • zeroing

    • setting operating modes

    • registering MD units

PDS Node#

  • Manage PDS devices and automatically expose per-module topics and services

  • Monitor modules such as:

    • Control Board (ctrl)

    • Isolated Converter (ic)

    • Brake Resistor (br)

    • Power Stage (ps)

  • Provide per-module enable/disable services

Build & Run#

For full build and usage instructions, refer to the repository README.

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