[ros-users] how to set-up communication with a new EtherCAT device
yann at minet.net
Mon Feb 14 15:39:48 UTC 2011
I am trying to add support for a new EtherCAT device.
It took a week for me to figure out how all the plugin device framework
works and how to get my device detected by the pr2_etherCAT node.
And I just found this morning the following tutorials on ROS wiki :
- Integrating a new type of EtherCAT device with ROS 
- Setting up communication with a new EtherCAT device 
- How to run pr2_etherCAT 
Reading them confirmed some of the things I painfully figured out
myself, and added some precisions on top of that.
Anyway I am now at the part where I am trying to get informations from
my device and maybe publish them on a ROS topic.
And also I will try to send commands to the device.
So this is the part where I have to focus on packCommand and
unpackCommand right ?
The thing is ... this is where the tutorial ends :)
The tutorial  seems to be unfinished, the missing part is exactly
what I haven't figured out myself yet.
Can someone give me some informations about this, links or maybe finish
the tutorial please ?
 - http://www.ros.org/wiki/pr2_etherCAT/Tutorials/Running
PS : my setup is *EXACTLY* what is explained in the beginning of the
tutorial , I have a microcontroller communicating with ADCs and DACs
using I2C and the microcontroller is communicating with the EtherCAT
ASIC via SPI. This is why I am so interested by this tutorial.
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