Robot Driver Node

RobotDriverNode is a ROS 2 node that serves as a communication interface between MPCGPU and robot hardware. It manages real-time trajectory execution while maintaining bidirectional communication with an Indy7 robotic arm.

This node has two primary responsibilities:

1. Execute incoming joint trajectories with precise timing
2. Poll and publish real-time joint states from the robot

Communication Interfaces

Subscriptions

• Topic: joint_trajectory
• Message Type: indy7_msgs/msg/JointTrajectory
• Purpose: Receives planned joint trajectories for execution

Publications

• Topic: joint_states
• Message Type: indy7_msgs/msg/JointState
• Purpose: Broadcasts current robot joint states at 1kHz

Key Features

• 1kHz control loop for both state publishing and trajectory execution
• Mutex-based thread protection for trajectory updates
• Buffers incoming trajectories and executes them based on timing
• Automatically handles trajectory completion and state transitions

Configuration

• Robot IP address
• Communication rates