Orbita2d actuator control libraries

Overview

This repository contains all libraries required to control an Orbita2d actuator. It allows:

• to fully control the actuator using Python
• access the full API (Rust package or C-API library)
• integrate the actuator in your ROS robot (URDF and ROS2 humble control hardware interface)

Model definition

The actuator is defined by the following parameters:

• two motors ($A$ and $B$) with their respective reduction ratio ($r_{A}$ and $r_{B}$). When not specified, they are always used in this order as argument or results. Yet, you should never nead to control them directly.
• the output axes ($ring$ and $center$). When not specified, they are always given in that order either as argument or results.

Please refer to the following schema for more details:

Usage

Via Rust

See orbita2d_control for more details.

Via Python

See orbita2d python bindings for more details.

ROS2 integration

Setup

• To integrate into a ROS2 workspace, simply clone this repository into the src/ directory of your workspace.

• Make sure to have the ros2_pollen_toolbox in the same workspace

• Make sure to have ros2_rust setup.

  If its your first time using rust with ros

  Make sure to install:

  pip install git+https://github.com/colcon/colcon-cargo.git
  pip install git+https://github.com/colcon/colcon-ros-cargo.git
  

• Make sure to use "patched version" of cargo-ament-built (see this PR for more details)

cargo install --debug --git https://github.com/jerry73204/cargo-ament-build.git  --branch conditionally-copy-cargo-lock-file

• Update colcon-cargo with: python3 -m pip install --upgrade --force-reinstall git+https://github.com/pollen-robotics/colcon-cargo.git

Build the hwi

• colcon build --symlink-install --packages-up-to orbita2d_system_hwi

Build the description

• colcon build --symlink-install --packages-up-to orbita2d_description

• See the orbita2d_description package for more details.

Contents

This repository contains the following sub-packages:

Rust packages for control

• orbita2d_kinematics: forward/inverse kinematics model (in Rust)
• orbita2d_control: low-level communication (serial or ethercat) and control (in Rust)

C-API library and Python bindings

• orbita2d c_api: plain C-API library to control the actuator
• orbita2d python bindings: Python bindings for the C-API library

ROS2 humble integration

• orbita2d_description: URDF/ros2_control description of the actuator
• orbita2d_system_hwi: ros2 control hardware system interface for the actuator

Testing

• Unit test and doc-test: cargo test
• Hardware tests:
  • torque on/off: cargo run --bin test_torque -- --config $(PWD)/orbita2d_controller/config/left_shoulder_flipsky.yaml
  • velocity limit: cargo run --bin test_velocity -- --config $(PWD)/orbita2d_controller/config/left_shoulder_flipsky.yaml
  • torque limit: cargo run --bin test_torque_limit -- --config $(PWD)/orbita2d_controller/config/left_shoulder_flipsky.yaml

Changelog

See CHANGELOG.md

Related repositories

Flipsky design

• Mechanical design
• Electronics design
• Firmware