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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
126 stars 32 forks source link

issue in creating generic omron IO plugin #16

Closed ros2torial closed 1 year ago

ros2torial commented 1 year ago

Hi,

I followed your instruction and successfully tested beckhoff ek1100(coupler) + el1008(input module) + el2008(output module) setup. When running ethercat slaves command, this is the output we get.. Screenshot from 2022-10-27 20-34-31

For a project we have to use omron nxecc202(coupler) + nxid5442(input module) + nxod5256(output module) setup. When I run ethercat slaves command, this is the output.. Screenshot from 2022-10-27 20-35-12

In omron setup, we don't see the input and output module listed like beckhoff setup. In case of beckhoff, the input and output module acts as a separate slave device but in case of omron, the input and output modules doesn't directly acts as slave device and couplers PDO's is connected with input and output modules.

Because of it, the procedure which you have used to create beckhoff plugins can't be used in case of omron. I guess I may have to write specific plugin for omron nxecc202+nxid5442+nxod5256 setup. Is there any way to avoid writing this specific plugin and write a generic plugins like beckhoff plugins?

ros2torial commented 1 year ago

I am able to create generic omron IO plugins like beckhoff's plugin. The above difference doesn't cause any issue.

mcbed commented 1 year ago

Hi, great news !! Please do not hesitate to create a PR to share your Omron devs !