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what are difference between soem, ethercat_soem, rtnet and rtt_soem?

asked 2018-05-27 09:38:38 -0500

dinesh gravatar image

what are difference between above? as i saw soem and ethercat_soem have been part of ros packages. But i'm little confused which package to study, choole or use for my application. can anyone show me some of theri speciality and difference.

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answered 2018-12-17 08:25:53 -0500

mgruhler gravatar image

updated 2018-12-17 08:26:57 -0500

Even though quite late, I'll give it a go...

  • soem: this the original SOEM library, or if you are refering to the ROS package, the original SOEM library wrapped as a ROS package
  • ethercat_soem: this seems to be the same, i.e. a wrapper for soem, but quite outdated...
  • rtt_soem: contains several packages, one was a wrapper for the original soem (soem_core), which has been replaced by the ROS soem wrapper above.

For rtnet, I'll quote the webpage:

RTnet is an Open Soure hard real-time network protocol stack for Xenomai and RTAI (real-time Linux extensions).

In the end, IMHO, use soem, if you want to write a driver yourself. If you go for realtime, use orocos/ rtt_soem (if it works, no idea). Don't use ethercat_soem...

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Asked: 2018-05-27 09:38:38 -0500

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Last updated: Dec 17 '18