feat: multi-ODrive support with node_id + timestamp in odrive status message#40
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wgtayar wants to merge 3 commits into
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feat: multi-ODrive support with node_id + timestamp in odrive status message#40wgtayar wants to merge 3 commits into
wgtayar wants to merge 3 commits into
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wgtayar
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samuelsadok
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Sep 22, 2025
| @@ -1,3 +1,5 @@ | |||
| std_msgs/Header header | |||
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Since we're not using any of the other fields in Header, is there any downside to just using time timestamp directly?
| @@ -1,3 +1,5 @@ | |||
| std_msgs/Header header | |||
| uint32 node_id | |||
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Your PR description states that this node_id should serve to distinguish two or more ODrive sources. But the typical way to do this that I know of is via the topic path on which they are published:
ros2 topic echo /odrive_axis0/odrive_status
ros2 topic echo /odrive_axis1/odrive_status
...Is there a scenario where this does not work?
| pkg: "odrive_can" | ||
| exec: "odrive_can_node" | ||
| name: "can_node7" | ||
| namespace: "odrive_axis0" |
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these names should be different for each instance
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Summary
This PR extends
odrive_status.msgand updates theodrive_can_nodeimplementation to support multi-ODrive setups by disambiguating messages and adding temporal context.Motivation
The existing implementation works for a single ODrive but makes it impossible to distinguish messages when multiple ODrives are connected. Additionally, messages lacked a timestamp, complicating debugging, logging, and synchronization with other ROS data streams.
These changes:
node_idonce.This inspiration comes from working on a system with multiple ODrives, such as a quadruped robot.
Changes
Message definition
std_msgs/Header header(providesstamp).uint32 node_idfield to uniquely identify each ODrive device.Publisher logic (
odrive_can_node.cpp)header.stampis now assigned immediately before current and voltage measurements are taken, ensuring accurate timing of values.node_idis defined once at initialization, rather than being re-set in every loop iteration.Testing
colcon build.ros2 topic echo /odrive_axis*/odrive_statuswith two ODrives connected:node_id.header.stampupdates consistently at each publish cycle.Notes
odrive_status.msgmust be rebuilt.uint32is suitable fornode_idor if a smaller type is preferred.