Controller for cia402 drives

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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Controller for cia402 drives #61

Open mcbed opened 1 year ago

mcbed commented 1 year ago

This PR resolves issue #46.

Controller features for ec_generic_cia402:

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

github-actions[bot] commented 1 year ago

Test Results

263 tests +1 217 :heavy_check_mark: +1 0s :stopwatch: ±0s   86 suites +1   46 :zzz: ±0   72 files +1     0 :x: ±0

Results for commit 7fa84771. ± Comparison against base commit b57675bb.

:recycle: This comment has been updated with latest results.

hellantos commented 1 year ago

@mcbed we had some success with using the perform-switch function in system interface in ros2_canopen. It switches the mode depending on the claimed interface. This has the advantage that you can achieve behavior similar to a robot driver (e.g. ur). Probably depends on the targeted use case.

mcbed commented 1 year ago

@ipa-cmh thanks for the hint, we will try to add this feature in the near future together with lifecycle management in ros2_control

JensVanhooydonck commented 1 month ago

Works good for me with the changes above.