yunjin544 / robot_ethercat_platform

Xeno_ROS_Ecat_Master

Robot_EtherCAT_Platform

If You use this project , You must install Xenomai kernel!!

Reference :
https://github.com/saga0619/rtnet_soem.git(start_rtnet.sh & red_test)
https://github.com/OpenEtherCATsociety/SOEM.git(red_test)
https://source.denx.de/Xenomai/xenomai/-/wikis/home(Xenomai API)

Requirement : Xenomai : 3.2.1
Linux : 5.4.180
Ubuntu : 20.04
SOEM : 1.4.0
RT-net : NIC Card ( Test done! : I210 & I340 ) // WGI210AT & E1G44HT
ROS1 : Noetic

How to Run(Example)

cd {your_ROS_ws}

git clone https://github.com/yunjin544/Robot_EtherCAT_Platform.git

cd {your_ROS_ws} && catkin_make

roscd && cd lib/robot_ecat_master

sudo ./RT_Ecat_master rteth0 rteth1

To-do

1. Debugging Distributed Clock Mode

ChangeLOG
8/6
Add VESCular6 Motor Controller Packet Function (VESCualr6 Motor Controller : https://dongilc.gitbook.io/openrobot-inc/)