DiabloBipedWheeled_TorqueControl_ROS2

This repository contains instructions on how you can do a low level control of the Diablo Biped-Wheeled robot by DirectDrive Tech. Diablo is a low cost (<=7500 USD :) ) ROS2 enabled biped-wheeled robot capable of self-balancing and achieving various dynamic maneuvers. Following are the instructions on how you can achieve low-level torque control of the six motors.

I've created a custom Torque.msg that is used for publishing and subscribing to six torque values. Diablo robot comes with six motors. (Hip, Knee and Wheels). There is a package called jointctrlsdk that has the script diablo_torque.cpp in the src directory.

Build the package.

colcon build jointctrlsdk

Eventually, as you make changes, you'd want to avoid rebuilding every package. For that use the following command

colcon build --packages-select jointctrlsdk

Initial Output

4047a41f-dcf5-4271-a88c-cd8d366f6659.mp4

This repository is under active development