Adding ethercat_controllers to interact with cia402 drives - Githubissues

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

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Adding ethercat_controllers to interact with cia402 drives #46

Closed mcbed closed 9 months ago

mcbed commented 1 year ago

Controller features for ec_generic_cia402:

[ ] broadcast drive information based on the status_word
[ ] broadcast drive mode_of_operation
[ ] command drive control_word using services
[ ] command drive mode_of_operation using services
[ ] trigger fault_reset service