robstride_driver

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
jazzy

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
kilted

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
lyrical

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
rolling

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
humble

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
humble

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
humble

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
humble

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
humble

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
humble

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
humble

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
humble

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
humble

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
humble

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
humble

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
humble

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
humble

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
humble

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

robstride_driver package from robstride_ros2 repo

robstride_driver robstride_examples robstride_ros2 robstride_ros2_control

ROS Distro
humble

Package Summary

Version	0.1.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/s2015-turtle/robstride_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RobStride private-CAN protocol, topic transport, motor lifecycle, and feedback library.

Additional Links

Maintainers

yamato

Authors

No additional authors.

robstride_driver

robstride_driver is the bridge-independent core library for RobStride actuators using the documented 29-bit private CAN protocol. It provides frame encoding and decoding, can_msgs/msg/Frame topic transport, motor lifecycle commands, feedback monitoring, and Run-mode recovery.

The package does not open a SocketCAN interface and does not provide a standalone ROS node. Applications configure the transmit and receive topics through robstride_ros2_control, then connect any compatible CAN bridge. The example package uses ros2_socketcan.

Public headers are installed under robstride_driver/ and cover:

protocol constants and command/feedback encoding;
per-model and per-joint limits;
CAN topic transport;
motor activation, stop, watchdog, and feedback handling.

Most users should integrate this library through the robstride_ros2_control Hardware Component. See the repository README for supported actuators, safety behavior, configuration parameters, and installation instructions.

CHANGELOG

Changelog for package robstride_driver

0.1.2 (2026-08-26)

Apply gear_ratio when converting effort commands and feedback between ROS joint and motor coordinates.
Add tests for unity and non-unity ratios with both joint directions.
Contributors: Yamato.K

0.1.1 (2026-08-25)

Synchronize the package version for the multi-package compatibility release.
Contributors: Yamato.K

0.1.0 (2026-08-09)

Add the RobStride private-CAN protocol, topic transport, motor lifecycle, feedback monitoring, and Run-mode recovery library.
Clamp position, velocity, and effort commands to per-joint operational limits before CAN encoding.
Contributors: Yamato.K

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	can_msgs
	rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
robstride_ros2
robstride_ros2_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `robstride_driver` at Robotics Stack Exchange