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在Ubuntu20.04（×86）+ ros1-noetic环境下，使用了ros_control和ros_canopen功能包，完成了can通讯驱动maxon电机，实现了对下肢外骨骼机器人的ppm、pvm、csp三种模式的控制

CMake 40.62% Python 25.25% C++ 34.13%
csp exoskeleton maxon ppm pvm ros-canopen epos4

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