README

This README would normally document whatever steps are necessary to get your application up and running.

What is this repository for?

This is a ROS2 package for the AK60_6 motors developed by Saxion Smart

How do I get set up?

• Install the required dependencies Build ros2_socketcan in your workspace link

How to use

Set up a connection with your can adapter and read the motor values:

sudo ip link set can0 up type can bitrate 1000000
ros2 launch ros2_socketcan socket_can_bridge.launch.xml

Then in a new terminal

ros2 launch ros2_ak60_6 motor_launch.py 

Parameter list

motor_can_id: set to the can_id of the motor you would like to talk to
motor_stiffness: Set the default stiffness
motor_dampening: Set the default dampening

Service list

/enable_motor: Enables the motor to start spinning
/disable_motor: Disables the motor
/zero_motor: Sets current position of the motor to 0
/set_can_id: Changes the id of the motor is listening to (This does not change the ID of the motor)
/set_KdKd: Change motor stiffness and dampening

Topic list:

/motor_input: This topic can be used to give commands to the motors
/motor_reading: Motor feedback topic