No version for distro humble showing github. Known supported distros are highlighted in the buttons above.

ethercat_motor_drive package from ethercat_driver_ros2_examples repo

ethercat_driver_ros2_examples ethercat_force_sensor ethercat_motor_drive ethercat_slave_description

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Example repository for the EtherCAT Driver ROS2 stack
Checkout URI	https://github.com/icube-robotics/ethercat_driver_ros2_examples.git
VCS Type	git
VCS Version	main
Last Updated	2024-12-17
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Package with instructions for running an EtherCAT compatible motor drive and use it in ROS2

Additional Links

No additional links.

Maintainers

Maciej Bednarczyk

Authors

No additional authors.

ethercat_motor_drive/README.md

ethercat_motor_drive

This repository contains the instructions for running an EtherCAT compatible motor drive and use it in ROS2 with EtherCAT Driver ROS2 stack.

Required Hardware

Maxon EPOS3 motor drive
Compatible DC motor with encoder

Usage

Required setup : Ubuntu 22.04 LTS

Install ros2 packages. The current development is based of ros2 humble. Installation steps are described here.
Source your ros2 environment:

    source /opt/ros/humble/setup.bash

**NOTE**: The ros2 environment needs to be sources in every used terminal. If only one distribution of ros2 is used, it can be added to the `~/.bashrc` file. 3. Install `colcon` and its extensions :

    sudo apt install python3-colcon-common-extensions

Create a new ros2 workspace:

    mkdir ~/ros2_ws/src

Pull relevant packages, install dependencies, compile, and source the workspace by using:

    cd ~/ros2_ws
    git clone https://github.com/ICube-Robotics/ethercat_driver_ros2_examples.git src/ethercat_driver_ros2_examples
    vcs import src < ethercat_driver_ros2_examples.repos
    rosdep install --ignore-src --from-paths . -y -r
    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --packages-select ethercat_motor_drive
    source install/setup.bash
    

Run the system:

    ros2 launch ethercat_motor_drive motor_drive.launch.py

Contacts

ICube Laboratory, University of Strasbourg, France

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

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ethercat_driver
	ethercat_interface
	ethercat_generic_cia402_drive

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ethercat_motor_drive` at Robotics Stack Exchange

API Docs Browse Code

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.