Interface EtherCAT servo motor with ROS

Question

hello everyone,

i am student and i want to build my own robot arm. I have finished my robot urdf file and MoveIt! setup. Now i have bought Panasonic Servo and motor(MINAS A5B EtherCAT servo drives). But i can't communicate servo with Ros and don't know which package i can use. Should i use ros_control package? Can anyone guide me?

Thanks!

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Originally posted by dgnikiroat on ROS Answers with karma: 23 on 2016-02-16

Post score: 2

Answer 1

I think you'll want to look at ros_ethercat by Shadow Robot. It's a rewrite of the Ethercat interfacing stack used on the PR2, but ros_control capable, more generic and maintained.

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Originally posted by gvdhoorn with karma: 86574 on 2016-02-17

This answer was ACCEPTED on the original site

Post score: 2

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Original comments

Comment by dgnikiroat on 2016-02-17:
Thanks! a very good example!