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ethercat_motor_drive package from ethercat_driver_ros2_examples repo

ethercat_driver_ros2_examples ethercat_force_sensor ethercat_motor_drive ethercat_slave_description

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Package Summary

Tags No category tags.
Version 0.0.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Example repository for the EtherCAT Driver ROS2 stack
Checkout URI https://github.com/icube-robotics/ethercat_driver_ros2_examples.git
VCS Type git
VCS Version main
Last Updated 2024-12-17
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Package with instructions for running an EtherCAT compatible motor drive and use it in ROS2

Additional Links

No additional links.

Maintainers

  • Maciej Bednarczyk

Authors

No additional authors.
ethercat_motor_drive/README.md

ethercat_motor_drive

This repository contains the instructions for running an EtherCAT compatible motor drive and use it in ROS2 with EtherCAT Driver ROS2 stack.

Required Hardware

  • Maxon EPOS3 motor drive
  • Compatible DC motor with encoder

Usage

Required setup : Ubuntu 22.04 LTS

  1. Install ros2 packages. The current development is based of ros2 humble. Installation steps are described here.
  2. Source your ros2 environment:
    source /opt/ros/humble/setup.bash
    

**NOTE**: The ros2 environment needs to be sources in every used terminal. If only one distribution of ros2 is used, it can be added to the `~/.bashrc` file. 3. Install `colcon` and its extensions :

    sudo apt install python3-colcon-common-extensions
  1. Create a new ros2 workspace:
    mkdir ~/ros2_ws/src
  1. Pull relevant packages, install dependencies, compile, and source the workspace by using:
    cd ~/ros2_ws
    git clone https://github.com/ICube-Robotics/ethercat_driver_ros2_examples.git src/ethercat_driver_ros2_examples
    vcs import src < ethercat_driver_ros2_examples.repos
    rosdep install --ignore-src --from-paths . -y -r
    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --packages-select ethercat_motor_drive
    source install/setup.bash
  1. Run the system:
    ros2 launch ethercat_motor_drive motor_drive.launch.py

Contacts

icube

ICube Laboratory, University of Strasbourg, France

Maciej Bednarczyk: m.bednarczyk@unistra.fr, @github: mcbed

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
ethercat_driver
ethercat_interface
ethercat_generic_cia402_drive

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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