elmo_ethercat_sdk
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leggedrobotics
Elmo EtherCAT SDK
Overview
This is a C++ library providing a high-level interface for controlling Elmo motor controllers of the Gold line over EtherCAT (using the CANopen over EtherCAT CoE protocol).
The lower level EtherCAT communication is handled by the soem_interface library.
The elmo_ethercat_sdk is developed on Ubuntu 20.04 LTS with ROS Noetic.
The source code is released under the GPLv3 license. A copy of the license is available in the COPYING file.
Authors: Jonas Junger, Johannes Pankert
Maintainer: Johannes Pankert, [email protected]
Contributors: Fabio Dubois, Lennart Nachtigall, Markus Staeuble, Martin Wermelinger
Installation
Dependencies
Catkin Packages
| Repo | url | License | Content |
|---|---|---|---|
| soem_interface | https://github.com/leggedrobotics/soem_interface.git | GPLv3 | Low-level EtherCAT functionalities |
| ethercat_sdk_master | https://github.com/leggedrobotics/ethercat_sdk_master | BSD 3-Clause | High-level EtherCAT functionalities |
| message_logger | https://github.com/leggedrobotics/message_logger.git | BSD 3-Clause | simple log streams |
System Dependencies (Ubuntu 20.04 LTS)
- ROS Noetic
- catkin
- yaml-cpp
Likely to work on Ubuntu 18.04 with ROS Melodic
Building from Source
To build the library from source, clone the latest version from this repository and from the dependencies into your catkin workspace and compile the package using
cd catkin_workspace/src
git clone https://github.com/leggedrobotics/soem_interface.git
git clone https://github.com/leggedrobotics/ethercat_sdk_master.git
git clone https://github.com/leggedrobotics/message_logger.git
git clone https://github.com/leggedrobotics/elmo_ethercat_sdk.git
cd ../
catkin build elmo_ethercat
To build the examples, execute the following command inside of your catkin workspace:
catkin build elmo_examples
Firmware version
This library is known to work with the following firmware versions:
- 01.01.15.00
- 01.01.16.00
leggedrobotics