ros2_control with ethercat_driver_ros2 errors when running ros2_control demo with ethercat driver plugin about ros2_control_demos

[mcbed]

Hi @NamanMo97,
As you probably already did, you need to add to the ros2_control urdf description the ec_module that you want to use for each joint/gpio component using:

<joint name="myJoint">
  <command_interface name="xxx"/>
  <state_interface name="xxx"/>
  <ec_module name="ECModule">
    <plugin>ethercat_plugins/ECModule</plugin>
    <param name="alias">xx</param>
    <param name="position">xx</param>
  </ec_module>
</joint>

I would need some more info about your setup to help you out setting it up. I suggest we move this topic to the ethercat_driver_ros2 repo.

[christophfroehlich]

Ok. I'll close this here, feel free to reopen if something related to this repo comes up.

[christophfroehlich]

Hi! I never worked with ethercat and ros2, but as written in its readme it is designed for ros2_control -> there has to be a way to get that running and I don't think its an issue of the demo in this repository. But maybe @mcbed can give you an answer here.

[NamanMo97]

Hello @christophfroehlich

I have managed to fix the previous problems and after some modifications in ros2_control description file, I'm able now to run the ethercat master and its ethercat drivers as plugins in the ros2_control.xacro file of the related launch file in the ros2_control_demos package (rrbot_modular_actuators.launch.py), so now I have a connection between ros2_control, ros2_controllers (I added gpio_command_controller to the ros2_controllers package), ros2_control_demos and ethercat_driver_ros2. I can write digital input on the driver using ethercat driver as a plugin (Beckhoff_EL2124), but still didn't figure out how to send position or velocity commands to the driver.

I want to ask you if you have used the ros2_control_demos package to have an implementation of ros2_control on a real robot?

[christophfroehlich]

I want to ask you if you have used the ros2_control_demos package to have an implementation of ros2_control on a real robot?

What do you mean exactly? Yes, I used these hardware interfaces as templates for a real robot.

[mcbed]

I want to ask you if you have used the ros2_control_demos package to have an implementation of ros2_control on a real robot?

What do you mean exactly? Yes, I used these hardware interfaces as templates for a real robot.

Same for us, new ros2_control hardware integration mostly starts from this repo.

[NamanMo97]

@christophfroehlich @mcbed
For my question I just wanted to check if I'm starting my integration correctly.
I will move this topic to the ethercat_driver_ros2 repo with more details as @mcbed suggested.