ICube-Robotics/ethercat_driver_ros2

Hardware Interface for EtherCAT module integration with ros2_control

What it solves

This project provides a way to integrate EtherCAT modules into the ROS 2 control framework, simplifying the process of developing and deploying applications that require real-time communication between industrial systems.

How it works

It implements a Hardware Interface for ros2_control that builds upon the IgH EtherCAT Master for Linux. It allows users to define and assemble hardware interfaces based on EtherCAT modules using parameter files, providing a generic way to parameterize the system.

Who it’s for

Robotics developers and engineers who are using ROS 2 and need to communicate with industrial hardware via the EtherCAT protocol.

Highlights

  • Integrated with ros2_control for standardized robot control.
  • Built on the IgH EtherCAT Master for Linux.
  • Generic parameterization via parameter files for easier module integration.
  • Apache 2.0 licensed.

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