ros_ethercat
A ROS package providing an EtherCAT main loop based on ros_control, replacing PR2-specific dependencies for custom robot hardware.
What is ros_ethercat?
ros_ethercat is a ROS package that replaces the PR2-specific EtherCAT main loop with one based on ros_control, enabling EtherCAT communication for custom robots without PR2 dependencies. It provides a hardware-agnostic interface for integrating EtherCAT devices with ROS, reusing existing drivers and supporting a controller manager. This allows robotics developers to build and control their own EtherCAT-based robots using standard ROS tools.
Robotics engineers and developers building custom ROS-based robots with EtherCAT hardware, particularly those migrating from PR2 software or designing new EtherCAT-integrated systems.
Developers choose ros_ethercat because it eliminates PR2-specific dependencies, offers seamless integration with ros_control, and provides a flexible, reusable foundation for EtherCAT communication in custom robotics applications.
Overview
Replace pr2_ethercat main loop with one based on ros_control
Use Cases
Best For
- Migrating PR2-based robot software to custom hardware without PR2 dependencies
Related Projects
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