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多个odrive设置 #6

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henryliuliuliu opened this issue Jan 3, 2022 · 3 comments
Open

多个odrive设置 #6

henryliuliuliu opened this issue Jan 3, 2022 · 3 comments

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@henryliuliuliu
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如果想同时使用odrive， 看到说明文档是使用serial number 设置，请问是在哪里设置？ 或者哪里有相关资料呢，感谢！
@henryliuliuliu
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是在odrive.ros2_control.xacro文件吗， 应该怎么改呢

@borongyuan
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是的，在odrive.ros2_control.xacro中将serial_number参数设为硬件的序列号。因为每个ODrive有2个axis，需要为每个joint设置一次，以便驱动知道joint对应的是哪个ODrive上的哪个axis。因为我们还将ODrive上的一些测量作为sensor输出，如母线电压，还需为sensor设置一次序列号。因此一个序列号最多被重复填写3次，1次在sensor中，2次在joint中。
如果只使用1个ODrive，可不填写序列号，保留默认的0即可。此时驱动会使用其发现的唯一的ODrive。

@henryliuliuliu
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感谢

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@borongyuan @henryliuliuliu