Which version of OROCOS and ROS should I install for communication with EtherCAT network? and how?

asked 2018-07-24 04:51:31 -0600

mohsen gravatar image

updated 2018-07-24 05:30:20 -0600

Hello. I have two questions.
1- I expect to use OROCOS + ROS for motion control in an EtherCAT network. Which version of OROCOS and ROS should I use?
2- Where can I find a guide for installing that version of OROCOS?
Thanks.

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Hey :) unfortunately I don't have an answer, but the same question. Have you found a guide by now? Thanks in advance, Philipp

schwarzp93 gravatar imageschwarzp93 ( 2018-08-09 08:08:12 -0600 )edit

Hello. The solution that I think might work is ROS Indigo + OROCOS + RTT_SOEM. I say "might" because I haven't tested it yet as I'm currently studying SOEM's API. I will worry about ROS and OROCOS integration next.

mohsen gravatar imagemohsen ( 2018-08-10 01:07:23 -0600 )edit

I should also mention this tutorial and the following packages: rtt_soem_robotiq, rtt_soem and soem.

mohsen gravatar imagemohsen ( 2018-08-10 01:12:18 -0600 )edit

Take a look at the Indigo tab of this tutorial. for ROS + OROCOS

mohsen gravatar imagemohsen ( 2018-08-10 01:16:05 -0600 )edit

Thanks mohsen! Unfortunately I have/ want to use ROS Kinetic. Is it also possible, to use EtherCAT with ROS Kinetic?

schwarzp93 gravatar imageschwarzp93 ( 2018-08-13 03:58:54 -0600 )edit

AFAIK, the SOEM packages that are written specifically for ROS and OROCOS are available for Indigo. Still, you might be able to check the source file for those packages and write your own using the latest version of (vanilla) SOEM.

mohsen gravatar imagemohsen ( 2018-08-13 12:37:45 -0600 )edit