[ros-users] how to set-up communication with a new EtherCAT device

[Kevin Watts]

Yann-
    I'm going to move this to pr2-users. The pr2_ethercat_drivers stack is
designed for the PR2, and we haven't supported using it outside the robot.

Kevin

On Mon, Feb 14, 2011 at 7:39 AM, Yann Sionneau <yann at minet.net> wrote:

> Hello,
>
> 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 [0]
> - Setting up communication with a new EtherCAT device [1]
> - How to run pr2_etherCAT [2]
>
> 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 [1] 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 ?
>
> Thanks !
>
> [0] -
>
> http://www.ros.org/wiki/ethercat_hardware/Tutorials/Integrating%20A%20New%20EtherCAT%20Device
> [1] -
>
> http://www.ros.org/wiki/ethercat_hardware/Tutorials/Communication%20With%20A%20New%20EtherCAT%20Device
> [2] - http://www.ros.org/wiki/pr2_etherCAT/Tutorials/Running
>
> Best regards,
>
> --
> Yann Sionneau
>
> PS : my setup is *EXACTLY* what is explained in the beginning of the
> tutorial [1], 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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