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.

Production robot descriptions can include $(find robstride_ros2_control)/description/robstride_motor_profiles.xacro without depending on robstride_examples. The helpers select a model whose protocol limits are defined once in robstride_driver. Direct joint parameters also accept model values RS00 through RS06, EL05 (alias EduLite05), or custom for explicit numeric limits. Numeric overrides of a known model must match its profile; use command_* parameters for operational limits.

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, transmit-path failure propagation, 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

0.2.0 (2026-09-06)

• Resolve known motor models from the production driver profile registry.
• Reject unknown model names and conflicting numeric profile overrides while preserving validated custom and legacy explicit-limit configurations.
• Install production-owned motor-profile Xacro helpers and declare their Xacro runtime dependency.
• Propagate persistent transport failures through the hardware interface.
• Expanded profile macros now emit a model name instead of numeric ranges; use the updated driver together with the updated Xacro helpers.
• Contributors: Yamato.K

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