d6cc80c17e
## Summary This PR updates the C++ hardware interface to support **CANFD** and confirms successful operation with **MoveIt** on the actual robot hardware. --- ## Changes Made - Migrated from classic CAN to **CANFD** in the motor control interface. - Updated the following modules: - `openarm_hardware/include/openarm_hardware/canbus.hpp` - `openarm_hardware/src/canbus.cpp` - `openarm_hardware/src/motor_control.cpp` - `openarm_hardware/include/openarm_hardware/motor_control.hpp` - `openarm_hardware/src/openarm_hardware.cpp` - Improved CAN socket handling and data frame structure. - Refactored internal motor communication logic for robustness. --- ## Verification - Confirmed joint control and motion execution with real hardware using **MoveIt**. - Controllers were properly loaded and executed planned trajectories without error. - CANFD communication is now functional and stable during runtime. |
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| .. | ||
| include/openarm_hardware | ||
| src | ||
| test | ||
| CMakeLists.txt | ||
| LICENSE | ||
| openarm_hardware.xml | ||
| package.xml | ||
| setup.bash | ||