denso_ethercat

Ethercat interface for Denso VS050

Prerequisites

What things you need to install the software and how to install them

• SOEM

sudo apt-get install ros-kinetic-soem

• EtherCAT Manager (updated in ROS server until kinetic only)

sudo apt-get install ros-kinetic-ethercat-manager

• ROS control packages

sudo apt-get install ros-kinetic-controller-manager
sudo apt-get install -y ros-kinetic-transmission-interface
sudo apt-get install -y ros-kinetic-joint-limits-interface

• Provide root privileges

sudo setcap cap_net_raw,cap_ipc_lock=+ep ~/catkin_ws/devel/lib/denso_control_ethercat/main

Running the tests

• Joint Position Controller

roslaunch denso_ethercat denso_control_pos.launch

• Joint Velocity Controller

roslaunch denso_control_vel denso_control_pos.launch

• Slaves EtherCAT information

roslaunch denso_control_vel slaves_info.launch