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hello everyone,
i am student and i want to build my own robot arm. I have finished my robot urdf file and MoveIt! setup. Now i have bought Panasonic Servo and motor(MINAS A5B EtherCAT servo drives). But i can't communicate servo with Ros and don't know which package i can use. Should i use ros_control package? Can anyone guide me?
Thanks!
I think you'll want to look at ros_ethercat by Shadow Robot. It's a rewrite of the Ethercat interfacing stack used on the PR2, but ros_control capable, more generic and maintained.
You could take a look at the Robotiq gripper implementation and modify it so that it matches the EtherCAT table specific to your device
Hello; Not all the motors and protocols are supported, as far as I know. If there is an SDK for the drives on linux, you can always program your own interface node..
Asked: 2016-02-16 20:47:21 -0500
Seen: 1,780 times
Last updated: Feb 08 '18
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