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feat: multi-ODrive support with node_id + timestamp in odrive status message #40

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feat: multi-ODrive support with node_id + timestamp in odrive status message #40

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bfbfa4f
Odrive CAN node and Status msg patch to include timestamps and node IDs.
wgtayar Sep 17, 2025
ec2a62d
CMakeLists and package.xml for correct inclusion of std_msgs
wgtayar Sep 17, 2025
60576da
Launch file for multiple Odrive nodes.
wgtayar Sep 17, 2025
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2 changes: 2 additions & 0 deletions odrive_node/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -10,12 +10,14 @@ find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_srvs REQUIRED)
find_package(std_msgs REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
"msg/ControlMessage.msg"
"msg/ControllerStatus.msg"
"msg/ODriveStatus.msg"
"srv/AxisState.srv"
DEPENDENCIES std_msgs
)
ament_export_dependencies(rosidl_default_runtime)

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38 changes: 38 additions & 0 deletions odrive_node/launch/multiple_odrives_example_launch.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,38 @@
launch:

- node:
pkg: "odrive_can"
exec: "odrive_can_node"
name: "can_node6"
namespace: "odrive_axis0"
param:
-
name: "node_id"
value: 6
-
name: "interface"
value: "can0"
- node:
pkg: "odrive_can"
exec: "odrive_can_node"
name: "can_node7"
namespace: "odrive_axis0"

@samuelsadok samuelsadok Sep 22, 2025

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these names should be different for each instance

param:
-
name: "node_id"
value: 7
-
name: "interface"
value: "can0"
- node:
pkg: "odrive_can"
exec: "odrive_can_node"
name: "can_node8"
namespace: "odrive_axis0"
param:
-
name: "node_id"
value: 8
-
name: "interface"
value: "can0"
2 changes: 2 additions & 0 deletions odrive_node/msg/ODriveStatus.msg
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@@ -1,3 +1,5 @@
std_msgs/Header header

@samuelsadok samuelsadok Sep 22, 2025

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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?

uint32 node_id

@samuelsadok samuelsadok Sep 22, 2025

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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?

float32 bus_voltage
float32 bus_current
float32 fet_temperature
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1 change: 1 addition & 0 deletions odrive_node/package.xml
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Expand Up @@ -14,6 +14,7 @@

<depend>rclcpp</depend>
<depend>std_srvs</depend>
<depend>std_msgs</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
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3 changes: 3 additions & 0 deletions odrive_node/src/odrive_can_node.cpp
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Expand Up @@ -70,6 +70,8 @@ bool ODriveCanNode::init(EpollEventLoop* event_loop) {
axis_idle_on_shutdown_ = rclcpp::Node::get_parameter("axis_idle_on_shutdown").as_bool();
std::string interface = rclcpp::Node::get_parameter("interface").as_string();

odrv_stat_.node_id = node_id_;

if (!can_intf_.init(interface, event_loop, std::bind(&ODriveCanNode::recv_callback, this, _1))) {
RCLCPP_ERROR(rclcpp::Node::get_logger(), "Failed to initialize socket can interface: %s", interface.c_str());
return false;
Expand Down Expand Up @@ -142,6 +144,7 @@ void ODriveCanNode::recv_callback(const can_frame& frame) {
case CmdId::kGetBusVoltageCurrent: {
if (!verify_length("kGetBusVoltageCurrent", 8, frame.can_dlc)) break;
std::lock_guard<std::mutex> guard(odrv_stat_mutex_);
odrv_stat_.header.stamp = rclcpp::Clock().now();
odrv_stat_.bus_voltage = read_le<float>(frame.data + 0);
odrv_stat_.bus_current = read_le<float>(frame.data + 4);
odrv_pub_flag_ |= 0b100;
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