Activate motor_status_broadcaster in arm, drive, and science; add telemetry to stepper and talo#73
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IshanDutta11 merged 11 commits intoumdloop:mainfrom Feb 23, 2026
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…shbaraneetharan/athena-code into motor-telemetry-and-docs
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This looks good. I will need to test this, but it should not impact the logic of anything else so if for some reason it does not work, I will ask you for another pull request.
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…emetry to stepper and talo (umdloop#73) * Add motor telemetry (temp/current) for RMD/SMC, update README, add can_setup.sh * add motor_status_broadcaster and fix CAN script paths in README * fix: use Humble-compatible get_value() and include path * Add motor telemetry (temp/current) for RMD/SMC, update README, add can_setup.sh * add motor_status_broadcaster and fix CAN script paths in README * fix: use Humble-compatible get_value() and include path * Activate motor_status_broadcaster in arm, drive, and science bringup * Add motor telemetry to stepper and talon hardware, activate broadcaster in science --------- Co-authored-by: IshanDutta11 <49695896+IshanDutta11@users.noreply.github.com>
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Follows up on PR #46
Arm broadcaster active with 5 joints (base_yaw, shoulder_pitch, elbow_pitch, wrist_pitch, wrist_roll)
Drive broadcaster active with 4 RMD propulsion joints; added motor_temperature/torque_current state interfaces to drive.rmd.ros2_control.xacro (the hardware already reads this data, xacro just wasn't declaring it)
Science broadcaster active with stepper and talon joints; added telemetry support to both hardware interfaces: