Juxie

CAN FD hardware interface plugin for JX motors in cyclic synchronous position (CSP) mode.

Repository: fiveages-sim/juxie-ros2-control · README

Plugin: juxie_ros2_control/JxHardware. No on_set_parameters. README lists max_position_step_nct 25 and max_position_accel_nct 5; source on_init fallbacks are 90 and 10.

How to read Startup only / Runtime: Hardware Interfaces.

Parameters

All rows in this table are Startup only.

Parameter	Type / default	Meaning
can_interface	string / "can0"	CAN FD interface
motor_ids	string (required)	"1,2,3" or "[1,2,3]"; order matches URDF joints
control_period_ms	int / 1	Cycle (ms); default 1000 Hz
max_position_step_nct	int / 90 (source)	Max per-cycle position step
max_position_accel_nct	int / 10 (source)	Max delta change; 0 disables