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It sounds like your best bet is to write a node that can interface with your CoDeSys robot. You can probably use one of the other available drivers in the ROS community. I think that you may find the ethercat_hardware package informative, as it connects to real-time hardware interfaces via an ethernet cable. You may also find ROS Industrial very useful, as they have done work interfacing industrial-grade robotics arms into the ROS ecosystem.

I think that you probably want to make your node either subscribe to a JointState message, or a Vector3 message. Your node should translate the data received on this topic to the corresponding hardware command, and then send it via the appropriate protocol.

Now it's just a matter of connecting your existing "ball tracking" node with your new hardware driver node, by making the ball tracking node publish to the appropriate method that you selected above.