A Ros EtherCAT hardware interface for ros_control based on SOEM

Build Dependencies

Add source

• soem

  sudo apt-get install ros-kinetic-soem

Install

• Clone this repository to you catkin workspace and then run

  catkin_make

Usage

• Fisrt connect the EtherCAT Wire to the Ethernet port of your computer, then, Disconnect the wired connection
• There is a hardware_interface for ros_control, which can be loaded in "balance_controller", use roslaunch.

  sudo su
  source .bashrc
  roslaunch balance_controller balance_controller_manager.launch
  

• There a also a serperate test node for ANYDrive, configure it to joint velocity mode and run for a few seconds.

  sudo su
  source .bashrc
  rosrun ros_ethercat_driver anydrive_test eno1
  

rqt GUI for motor test

• Fisrt make sure a roscore is running.
• Then enter the su mode and run

  sudo su
  source .bashrc
  roslaunch rqt_ethercat_test_plugin ethercat_test.launch
  

• There is a GUI like this
  • Fisrt, input the Ethernet Port, for example 'eno1'.
  • Then, click button 'connect', if success, there will be a list of device in the Table.
  • if connect to a device, you can choose the device use the check box, the you can set operation mode and control the device

  TODO

  Auto Switch between Golden Twitter and ANYdrive.