Orbita3d control stack

Rust Lint and Test Python checks

Overview

This repository contains all libraries required to control an Orbita3d actuator. It allows:

  • to fully control the actuator using Python
  • access the full API (Rust package or C-API library)
  • integrate the actuator in your ROS robot (URDF and ROS2 humble control hardware interface)

Installation

In order to run this project, you need to have two main prerequisites: Rust and EtherCAT master installed on your machine

The orbita3d control stack can then installed in several differenet ways - see installation for more details

Usage

The package can be used in different ways as well

  • Rust API: Rust API to control the actuator - see in docs
  • Python API: Python bindings for the C-API library - see in docs
  • C-API library: plain C-API library to control the actuator - see in docs
  • ROS2 integration: The package can be integrated in a ROS2 system using the provided humble integration package - see in docs

Crate structure

This repository contains the following sub-packages:

Rust packages for control

C-API library and Python bindings

ROS2 humble integration

Changelog

See changelog.

Flipsky design