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 capable 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 jointctrl that has the script diablo_torque.cpp in the src directory.
colcon build jointctrlsdkEventually, as you make changes, you'd want to avoid rebuilding every package. For that use the following command
colcon build --packages-select jointctrlsdk4047a41f-dcf5-4271-a88c-cd8d366f6659.mp4
This repository is under active development