A Ros EtherCAT hardware interface for ros_control based on SOEM
Add source
- soem
sudo apt-get install ros-kinetic-soem
- Clone this repository to you catkin workspace and then run
catkin_make
- 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
- 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
