EtherCAT with ROS Kinetic [closed]

asked 2018-08-17 05:54:48 -0500

schwarzp93 gravatar image

updated 2018-10-01 08:13:30 -0500

Hi all :)

how would be the correct way, to control devices via EtherCAT using ROS Kinetic? I found out a lot about SOEM, Orocos, etc. There are so many different packages available and a lot of them seem outdated... I tried many, but I didn't make it work for me... Can anybody provide an up-to-date manual on this topic?

Thanks in advance!

Regards, Philipp

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Closed for the following reason question is not relevant or outdated by mgruhler
close date 2019-03-12 02:24:43.699183


Or is this only possible with ROS Indigo? If so, does anybody have a manual on this?

schwarzp93 gravatar image schwarzp93  ( 2018-09-03 02:25:48 -0500 )edit

also, I would prefer, to use Ubuntu 16.04, if possible....

schwarzp93 gravatar image schwarzp93  ( 2018-09-03 02:51:35 -0500 )edit

well, SOEM is a library for controlling EtherCAT devices on linux. So yes, you can make this work. SOEM is actually released as a ROS package for kinetic. I've made some ELMO motor controllers work in kinetic using SOEM, but it has been quite some work and hacking. Most importantly, you need to...

mgruhler gravatar image mgruhler  ( 2018-09-03 06:11:24 -0500 )edit

understand the concepts behind EtherCAT as a transport layer and whatever command set you are using. In my case this has been CANopen-over-EtherCAT, which has quite a steep leraning curve if you need to learn both.

In the end, getting a device to work with EtherCAT in ROS is doable, but pretty ...

mgruhler gravatar image mgruhler  ( 2018-09-03 06:13:02 -0500 )edit

device specific, so it would help to no more about what kind of hardware you want to use.

mgruhler gravatar image mgruhler  ( 2018-09-03 06:14:12 -0500 )edit

Thanks! :) I want to use a Beckhoff EtherCAT "Station", which has many digital and analog I/Os. Unfortunately, I don't know the exact type of this station, but I can look it up, as soon, as I'm back in university....

schwarzp93 gravatar image schwarzp93  ( 2018-09-03 10:32:40 -0500 )edit

where can I find this SOEM package for kinetic, that you mentioned in your first comment?

schwarzp93 gravatar image schwarzp93  ( 2018-09-04 07:03:16 -0500 )edit

sudo apt install ros-kinetic-soem. But note that this simply wraps the soem library as a ROS package. You still have to write the ROS driver for your device yourself.

mgruhler gravatar image mgruhler  ( 2018-09-04 08:27:43 -0500 )edit