Cora Robot packages

ROS 2 Packages for the real cora robot.

Odrive v3.6 setup

1. install odrivetool

   sudo pip install odrivetool

2. Load user config (6354 or 5065)

   odrivetool restore-config closed_loop_6354.json

3. Start odrivetool

   odrivetool

   ODrive control utility v0.6.10.post0
   Website: https://odriverobotics.com/
   Docs: https://docs.odriverobotics.com/
   Forums: https://discourse.odriverobotics.com/
   Discord: https://discord.gg/k3ZZ3mS
   GUI: https://gui.odriverobotics.com/
   
   Please connect your ODrive.
   You can also type help() or quit().
   Tip: `?` alone on a line will brings up IPython's help
   
   Connected to ODrive v3.6-24V 336436543334 (firmware v0.0.0) as odrv0

4. Save config and reboot

   odrv0.save_configuration()
   odrv0.reboot()

5. Initiate full calibration

   odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
   odrv0.axis0.requested_state = AXIS_STATE_IDLE

6. Set encoder and motor precalibration to true

   odrv0.axis0.motor.config.pre_calibrated = True
   odrv0.axis0.encoder.config.pre_calibrated = True

7. Save config and reboot

   odrv0.save_configuration()
   odrv0.reboot()

8. Run further setup using python script