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ethz-msrl / ethercat_ros_configurator

EtherCAT ROS Configurator
BSD 3-Clause "New" or "Revised" License
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Parameters and units of the object dictionnary parameters look inconsistent for Maxon EPOS #8

Closed qboehler closed 3 months ago

qboehler commented 3 months ago

The maxon.yaml example config file is confusing as the some of the units in the comments for the object dictionary don''t match the ones from the documentation of the firmware specifications of the EPOS4.

qboehler commented 3 months ago

The following parameter is not parsed by https://github.com/leggedrobotics/maxon_epos_ethercat_sdk

https://github.com/ethz-msrl/ethercat_ros_configurator/blob/c173a4fce603da1b66b3463a60baae537a245117/config/device_configurations/maxon.yaml#L37

Instead, the max. input speed from the gear is computed as the ratio between the max. motor speed and the gear ratio:

https://github.com/leggedrobotics/maxon_epos_ethercat_sdk/blob/e1774e3c898e190748c9ca2431925d417aa46934/src/maxon_epos_ethercat_sdk/ConfigureParameters.cpp#L740-L743

I suggest to remove the parameter