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ros2_ethercat repositorycustom_interfaces ethercat_driver ethercat_interface ethercat_plugins gpio_control gpio_controllers |
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Repository Summary
| Checkout URI | https://github.com/ros2torial/ros2_ethercat.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-01-24 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| custom_interfaces | 0.0.0 |
| ethercat_driver | 0.0.0 |
| ethercat_interface | 0.0.0 |
| ethercat_plugins | 0.0.0 |
| gpio_control | 0.0.0 |
| gpio_controllers | 0.0.0 |
README
ros2_ethercat
contains packages to communicate with omron ethercat devices
Start IgH EtherCAT Master
to start IgH EtherCAT Master run
sudo /etc/init.d/ethercat start
sudo chmod 777 /dev/EtherCAT0
ethercat slaves
or directly run the ethercat_start.sh file in the gpio_control which automatically run the above three commands
Start EtherCAT ROS2 Control
start gpio controller, communication with hardware and the additional services depending on workcell
ros2 launch gpio_control wc2_launch.py
or
ros2 launch gpio_control wc3_launch.py
If this launch terminal is killed by the user then the outputs which were HIGH will automatically become LOW.
To Control Output
to set a particuler output keeping other output values same ->
ros2 service call /output_control custom_interfaces/srv/OutputControl "output_number: 15
value: true
"
ros2 service call /output_control custom_interfaces/srv/OutputControl "output_number: 15
value: false
"
To Reset Output
to reset all the output to zero value ->
ros2 service call /output_reset std_srvs/srv/Trigger {}
To provide a High Pulse to Output
to set a particuler output HIGH for certain duration(ms) ->
ros2 run gpio_control test_output_publisher 15 1000
Additional Information
to check the io states run
ros2 topic echo /hardware/gpio_command_controller/gpio_states
publish on /hardware/gpio_command_controller/commands topic to set output
ros2 topic pub -r1 /hardware/gpio_command_controller/commands std_msgs/msg/Float64MultiArray "layout:
dim: [{"label": "gpio_num","size": 2,"stride": 32}, {"label": "io_num","size": 16,"stride": 16}]
data_offset: 0
data: [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1]
"
CONTRIBUTING
No CONTRIBUTING.md found.
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