Control tools for Orbita 3D actuator
This repository contains all libraries required to control an Orbita3d actuator. It allows:
- to fully control the actuator using Python
- access the full API (Rust package or C-API library)
- integrate the actuator in your ROS robot (URDF and ROS2 humble control hardware interface)
See the full documentation
In order to run this project, you need to have two main prerequisites: Rust and EtherCAT master installed on your machine
- The guide to installing Rust can be found on the official Rust website.
- See how to install EtherCAT master IgH in our installation guide.
The orbita3d control stack can then installed in several differenet ways - see installation for more details
The package can be used in different ways:
- Rust API: Rust API to control the actuator - see in docs
- Python API: Python bindings for the C-API library - see in docs
- C-API library: plain C-API library to control the actuator - see in docs
- ROS2 integration: The package can be integrated in a ROS2 system using the provided humble integration package - see in docs
This repository contains the following sub-packages:
- orbita3d_kinematics: forward/inverse kinematics model (in Rust)
- orbita3d_controller: low-level communication (serial or ethercat) and control (in Rust)
- orbita3d c_api: plain C-API library to control the actuator
- orbita3d python bindings: Python bindings for the C-API library
- orbita3d_description: URDF/ros2_control description of the actuator
- orbita3d_system_hwi: ros2 control hardware system interface for the actuator
- Poulpe Boards Ethercat stack: poulpe_ethercat_controller
- Poulpe Boards firmware: firmware_Poulpe
See changelog.
This project adheres to the Contributor code of conduct. By participating, you are expected to uphold this code. Please report unacceptable behavior to [email protected].
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