Which version of OROCOS and ROS should I install for communication with EtherCAT network? and how?
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.
Hey :) unfortunately I don't have an answer, but the same question. Have you found a guide by now? Thanks in advance, Philipp
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.
I should also mention this tutorial and the following packages: rtt_soem_robotiq, rtt_soem and soem.
Take a look at the Indigo tab of this tutorial. for ROS + OROCOS
Thanks mohsen! Unfortunately I have/ want to use ROS Kinetic. Is it also possible, to use EtherCAT with ROS Kinetic?
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.