mcbed
commented
1 year ago Hi @AlessioMosca, On first sight it seems like your drive is rejecting the setup in you config file. In your log you should have a list of all configures pdo channels which is missing in you case. To check master log in debug, in a terminal run:
ethercat debug 1sudo dmesg -c- run your code
sudo dmesg
Besides, it is not clear to me (sorry for the high number of question, i am new on ros2 ):
- where can i find the data coming from the drive ? is there any topics ?
once communication is running, you can see all state data on the \dynamic_joint_states topic.
- by looking inside the joint_states i cannot see any message also if i launched the joint_broadcaster ? is this because i need some ros_controller to publish on joint states?
I suppose, this is because you are not receiving any data yet
- the difference between alias and position in the ec_plugin tag? If I understood well, the position is the real position in the ethercat chain but the alias i do not understand what it means.
you can give your slave some id and use it, but mostly you will use position and put alias to 0
- why the reset fault is unclaimed ?
non of your controllers is claiming it, you can claim it using the gpio_controller
- where can i set the control world ? should i add the pdo channel flag "command_interface" ? is possible to set by command line or only from code ?
you can add a command_interface flag and use the gpio_controller, by command line using the ethercat tool or by a ros service using the tool provided in PR #56
- where can i read the status word ?
you need to associate a state_interface and/or rest same as before
- how can i run a fault reset command?
with a controller ex gpio_controller
- how can i use the plugin features (Drive State transitions, Drive Fault reset, Mode of Operation)? are they usable by command line or only in a code ?
drive state is automatic or can be handled by a controller using status and control words, mode of operation is set in urdf or by a controller, drive fault reset is available. a dedicated controller is on the road map #46
- can pdo's be custom? how are they loaded on the drive? if i use custom pdo's do i have to do any extra steps?
pdo's are configured in the drive. If your drive support custom pdo you need to configure the drive and only add the corresponding line in the slave_config.yaml file.
I hope this helps you
AlessioMosca
the urdf:
the controller yalm config file
I have added the fault reset in both command and state interface as you suggest in 
Hi there,
I am using the generic plugin EcCiA402Drive in order to develop my custom robot. However, I don not understand how i should use in a good way the ethercat library.
I have configured all the configuration files as (ingenia xcr link)
I have defined in the urdf file the ro2_control :
Then, when i launch the real robot the ethercat drive is loaded and the masted activated:
However, all the drives are not switched on. What I am doing wrong? What am I missing?
By looking the list of hardware interfaces (command and state), it seems that they are properly loaded except for the reset_fault:
an overview given by rqt_graph:
Besides, it is not clear to me (sorry for the high number of question, i am new on ros2 ):
Many thanks for your help Best Regards
Alessio