Note: Previously http://wiki.ros.org/tmcl_ros
Background
" Analog Devices, Inc. (ADI)’s Trinamic motor and motion control products transform digital information into precise physical motion, enabling Industry 4.0 performance in applications such as advanced robotics, automation, medical prosthetics, 3D printing, and more. The ADI Trinamic™ portfolio includes motors, encoders, and motor control ICs and modules. These complete, efficient, small footprint solutions can help reduce complexity and time to market for intelligent motion systems while supporting potential space and performance efficiency improvements." - ADI Trinamic Support
Official ROS Driver for Trinamic Motor Controllers (TMC) that uses Trinamic Motion Control Language (TMCL) protocol.
Maintainer: ROS@analog.com
Source: git https://github.com/analogdevicesinc/tmcl_ros (branch: noetic)
Hardware Requirements
- Supported Boards:
- All market-ready TMCs with YAMLs in the repository are expected to work and can be tried and tested by the users.
Officially supported (i.e. tested) TMC boards are listed here
Purchase Trinamic Motor Controller Evaluation Boards here
Purchase Trinamic Motors here
Documentation
Documentation is hosted at https://github.com/analogdevicesinc/tmcl_ros
It will contain the following:
- Hardware Setup
- Software Architecture and Dependencies
- Clone, Build, Pre-Launch, and Launch Instructions
- ROS API (Nodes, Topics, Services)
- Tutorial: Quick Tests
References
For more information, visit analog.com
For ROS2 package, visit: https://github.com/analogdevicesinc/tmcl_ros2
