ethercat_driver_ros2

Implementation of a Hardware Interface for simple Ethercat module integration with ros2_control and building upon IgH EtherCAT Master for Linux.

About

EtherCAT provides applications with the capacity of reliable, real-time communication between systems and is therefore a common industrial standard. In order to simplify the development/deployment of new application using EtherCAT modules, the ethercat_driver allows to combine them with ros2_control. This driver proposes a generic ways to parametrise and assemble Hardware Interfaces based on EtherCAT modules that can be defined using parameter files.

For more information, please check the documentation.

Acknowledgments

Parts of the driver are based on the implementation of SimplECAT.

Contacts

ICube Laboratory, University of Strasbourg, France

Manuel Yguel: yguel@unistra.fr

Laurent Barbé: laurent.barbe@unistra.fr

Philippe Zanne: philippe.zanne@unistra.fr

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

Contributing Guidelines

Thank you for your interest in contributing to ethercat_driver_ros2. Whether it’s a bug report, new feature, correction, or additional documentation, we greatly value feedback and contributions from the community.

Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.

Reporting Bugs/Feature Requests

We welcome you to use the GitHub issue tracker to report bugs or suggest features.

When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue.

Please try to include as much information as you can. Details like these are incredibly useful:

• A reproducible test case or series of steps
• The version of our code being used
• Any modifications you’ve made relevant to the bug
• Anything unusual about your environment or deployment

Installation of pre-commit checks and hooks

To accelerate the rate of development and to ensure that the code is formatted correctly, we use pre-commit checks and hooks. To install these, please follow the instructions below:

1. Install packages used to check the code:

$ sudo apt-get -y install clang-format-10 python3-autopep8 ament-cmake-uncrustify python3-ament-cpplint python3-ament-lint-cmake python3-ament-copyright
$ pip install doc8

1. Install pre-commit: pip install pre-commit
2. Configure hook such that it runs on every commit: pre-commit install

You can run pre-commit manually on the repository to check if the code is formatted correctly. To do so, run pre-commit run --all-files in the root of the repository.

Contributing via Pull Requests

Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:

1. You are working against the latest source on the main branch.
2. You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
3. You have used pre-commit checks to correct any formatting issues.
4. You open an issue to discuss any significant work - we would hate for your time to be wasted.

NOTE: For contributing to the documentation, contribute to the sphinx pages placed in the ethercat_driver_ros2/sphinx folder.

To send us a pull request, please:

1. Fork the repository.
2. Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
3. Ensure local tests pass.
4. Commit to your fork using clear commit messages.
5. Send a pull request, answering any default questions in the pull request interface.
6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

GitHub provides additional documentation on forking a repository and creating a pull request.

Licensing

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.