Hardware required for making Real Industrial Robot Arm through EtherCAT

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Hello,

I want to make an articulated robot using ROS 2 humble. It will be used in industry, so the motors are more industrial. the motor is connected to a driver to control it and the driver will be connected to my laptop which runs ROS 2 humble through EtherCAT communication using EtherCAT cable. I want to ask how to connect to this driver and send commands with ROS. Is there a package to help me? And Will I need a controller or a hardware device to connect the laptop to the drivers?

Thanks in advance,