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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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driver ethercat industrial-automation robot-control robotics ros ros2 ros2-control

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ethercat_driver_ros2

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Implementation of a Hardware Interface for simple Ethercat module integration with ros2_control and building upon IgH EtherCAT Master for Linux.

About

EtherCAT provides applications with the capacity of reliable, real-time communication between systems and is therefore a common industrial standard. In order to simplify the development/deployment of new application using EtherCAT modules, the ethercat_driver allows to combine them with ros2_control. This driver proposes a generic ways to parametrise and assemble Hardware Interfaces based on EtherCAT modules that can be defined using parameter files.

For more information, please check the documentation.

Acknowledgments

Parts of the driver are based on the implementation of SimplECAT.

Contacts

icube

ICube Laboratory, University of Strasbourg, France

Manuel Yguel: yguel@unistra.fr

Laurent Barbé: laurent.barbe@unistra.fr

Philippe Zanne: philippe.zanne@unistra.fr

Maciej Bednarczyk: m.bednarczyk@unistra.fr, @github: mcbed