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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
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Seeking Guidance on Writing hardware_interface.cpp in ROS2_Control to Connect with Motors via IGH Master #80

Closed ZorroStardust closed 9 months ago

ZorroStardust commented 9 months ago

May I ask if you can provide some demonstration demos or code for writing the hardware_interface in ros2_control? For beginners, it's a bit challenging to write the hardware_interface.cpp to connect with the motor, like how to write the code in on_configure() method, so as to connect with the motor through the igh master station. Although the official ROS2_Control provides some demos, there are hardly any cases connecting with real motors, especially through ethercat_driver_ros2. If you could offer some guidance, I would be deeply grateful.

ZorroStardust commented 9 months ago

It's my fault, it seems that the＜ethercat_driver.cpp＞ is a great demo that I just need.