robstride_ros2_control

robstride_ros2_control exposes RobStride actuators as a ROS 2 hardware_interface::SystemInterface. One component can manage multiple motor IDs on one CAN bus, and each joint can independently use position, velocity, or effort commands.

Use the following plugin identifier in a ros2_control robot description:

<hardware>
  <plugin>robstride_ros2/RobStrideSystem</plugin>
</hardware>

Every joint exports position, velocity, and effort command interfaces and the corresponding state interfaces. Temperature and fault state interfaces are optional. The component also handles lifecycle activation, startup readback, feedback timeouts, motor watchdog configuration, Run-mode recovery, command clamping, and repeated stop commands during shutdown.

CAN traffic is exchanged through configurable can_msgs/msg/Frame topics, so the component is not tied to a particular SocketCAN bridge. See the repository README for the complete hardware and joint parameter reference, controller examples, and operational limits.

Changelog for package robstride_ros2_control

0.1.2 (2026-08-26)

• Derive default ROS joint effort limits from motor limits through gear_ratio and direction.
• Validate explicit joint effort limits after converting them back to motor clamp and CAN encoding coordinates.
• 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 a ros2_control SystemInterface adapter backed by robstride_driver.
• Support position, velocity, and effort command-mode switching per joint.
• Parse and validate optional ROS joint-coordinate command limits separately from the CAN encoding ranges.
• Reject non-finite joint values, invalid watchdog values, and blank CAN topic names during hardware configuration.
• Contributors: Yamato.K