How to connect ROS2 with a motor driver?
I use a Copley Controls Stepnet motor driver STP-075-07 and I programed my controller with the GUI software CME. The connection is done with the CANopen communication. Now I want to send control commands (i.e. desired position) from a ROS2 node from my laptop. The connection is going to be again with CANopen. I have the following questions:
- What package should I use to make the connection between ROS2 and the driver, with the CANopen communication?
- Is there any sample code, or a guide I can use as a reference?
- How can I access and modify the values of the driver parameters (objects) through my code?
This is the first time I work with CAN communication and ROS2 (so far I was using ROS1). Now I'll work with Ubuntu 20 and ROS2 foxy. Any feedback is appreciated.