For a project, we are thinking of using ROS2 to communicate with Odrive with a twist. The goal is to have access to ROS features right down to the motor.
For that we solved many hurdles such as porting MicroROS to FreeRTOS, changing the Tup system to makefiles…
Currently, we are capable of compiling and building the firmware.
Odrivetool is able to detect the hw (with a delay of 60sec).
We follow it by doing a full calibration sequence which successfully initializes both the motor and the encoder.
Then we try to control the motor in closed-loop which Odrive doesn’t seem to like.
It-dumps an error saying “ERROR_CONTROL_DEADLINE_MISSED” and “ERROR_MOTOR_DISARMED”.
has anyone encountered this error? if so any fixes?
looking forward to your potential comments