Comments (4)
Hi @dg-shadow , this sounds as an interesting project. May I ask for one or 2 sentences on the main changes that are supposed to be done ?
Does this also tackle the issue that other data than joint data would be available as a resource (like tactile data not being part of an actuator for instance, or palm data being also available as a resource) ?
thanks
from ros_ethercat.
Principally, the changes are simply to the way the driver is launched. At the moment, a RosEthercat is instantiated in a ros_ethercat_loop. Instead we add an entry to the robot_hardware parameter and run a ros_control_robot node which in turn creates the RosEthercat instance. The only change to the code is to add a filter parameter to select which joints from the robot_description are to be controlled.
At the moment this doesn't address any other issues. The purpose is to make the hand and ur arm drivers consistent (arm driver has been changed to be RobotHW rather than a controller as it is currently).
from ros_ethercat.
@dg-shadow thanks for the explanation. Will the change still permit to run the ros_ethercat_loop (we don't have other ros_control robots) ?
from ros_ethercat.
Yes, the old driver will still work.
from ros_ethercat.
Related Issues (20)
- Set param in server after loading driver for a slave
- separate hardware read and write
- missing install directives from CMakeLists.txt
- Implement and test JointCommandInterfaces
- Add functionality to CustomHW
- 'Motor halted' ERROR in the Diagnostic Viewer HOT 1
- Missing joint_state_publisher.launch in release HOT 1
- modify calibrate node to calibrate correct joints
- Adapt to ros_control combined RobotHW
- Dynamically load urdf given serial number
- Add diagnostics collection to RosEthercat
- Fix dependencies
- communicate servo with Ros through EtherCAT HOT 1
- Fix crash when error scanning ethercat slaves
- kinetic release?
- Support any servo motor with ethercat or just CoE servo motor
- ros_ethercat_eml is licensed under GPL HOT 1
- [ros_ethercat_loop] RPATH issues when using ethercat_grant on bionic
- Can not find ehtercat_grant in ros_ethercat_loop. HOT 1
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from ros_ethercat.