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I´d recommend using an Arduino for hardware interfacing, as this appears to be the platform that currently has by far the biggest user community and makes basic interfacing very easy (and easily google-able if something does not work). Interfacing with ROS can be done using rosserial_arduino or ros_arduino_bridge.

Don´t want to disparage the use of RoNex, which looks like a very capable approach, but it´s use of EtherCAT suggests that is meant for more involved (and expensive) applications.