CANdle ROS2

This repository provides ROS2 interfaces for controlling MD electric drive controllers and PDS power distribution systems using the CANdle-SDK. It exposes both systems as ROS2 nodes with services and topics for operational control and telemetry.

This package acts as a runtime control interface. For configuration, please use:

➡️ CANdleTool

Features

MD Node

• Control MD drive controllers
• Publish joint state data
• Accept position, velocity, motion, and impedance commands
• Provide enable/disable/zero/mode setup services

PDS Node

• Manage PDS devices and their modules
• Monitor modules such as the Control Board, Isolated Converter, Brake Resistor, and Power Stage

Installation

Go to your ROS2 workspace and clone the repository:

git clone git@github.com:mabrobotics/candle_ros2.git src/candle_ros2

Initialize submodules:

git -C src/candle_ros2/ submodule update --init --recursive

Build:

colcon build

Source the environment:

source install/setup.bash

Running

MD Node

ros2 launch candle_ros2 md_node_launch.py

PDS Node

ros2 launch candle_ros2 pds_node_launch.py

Both Nodes

ros2 launch candle_ros2 both_launch.py

Launch arguments

• bus — desired communication bus with CANdle device, possible values: USB and SPI (default: USB).
• data_rate — data rate of CAN network, possible values: 1M, 2M, 5M and 8M (default: 1M).
• default_qos — ROS message quality of service for node's publishers, possible values: Reliable and BestEffort (default: Reliable).

Example launch command with custom arguments:

ros2 launch candle_ros2 md_node_launch.py bus:=SPI data_rate:=5M

Documentation

Full CANdle ROS2 documentation: ➡️ CANdle ROS2 nodes documentation

MAB controllers manuals: ➡️ MAB documentation