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ICube-Robotics / ethercat_driver_ros2

Hardware Interface for EtherCAT module integration with ros2_control
https://icube-robotics.github.io/ethercat_driver_ros2/
Apache License 2.0
151 stars 40 forks source link

perform homing #141

Open muttistefano opened 3 months ago

muttistefano commented 3 months ago

Hi all, I have to perform a homing operation before moving some motors. I successfully change the operation mode in homing, but then I have to trigger the homing start by changing the control_word. Is there a way to do this, or do I have to write a controller that writes the appropriate control word? Thanks

yguel commented 2 months ago

Hi, sorry for the delay. You are correct, you have to write a controller that writes the appropriate control word. We could consider providing a generic controller providing just that service with also the change of mode of operation. Could you describe your application, it will help us with the design of a controller that would suit the widest possible field of applications.