{"id":19855213,"url":"https://github.com/leggedrobotics/elmo_ethercat_sdk","last_synced_at":"2025-05-02T01:30:47.218Z","repository":{"id":52911514,"uuid":"262057319","full_name":"leggedrobotics/elmo_ethercat_sdk","owner":"leggedrobotics","description":null,"archived":false,"fork":false,"pushed_at":"2024-03-15T13:15:19.000Z","size":249,"stargazers_count":85,"open_issues_count":4,"forks_count":37,"subscribers_count":26,"default_branch":"master","last_synced_at":"2025-04-06T20:46:32.681Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/leggedrobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"COPYING","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2020-05-07T13:26:18.000Z","updated_at":"2025-03-25T09:00:59.000Z","dependencies_parsed_at":"2024-11-12T14:12:06.691Z","dependency_job_id":"871f68aa-d94a-4f61-b900-523923b5fed6","html_url":"https://github.com/leggedrobotics/elmo_ethercat_sdk","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Felmo_ethercat_sdk","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Felmo_ethercat_sdk/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Felmo_ethercat_sdk/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Felmo_ethercat_sdk/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/leggedrobotics","download_url":"https://codeload.github.com/leggedrobotics/elmo_ethercat_sdk/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":251969278,"owners_count":21673184,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-12T14:12:01.722Z","updated_at":"2025-05-02T01:30:43.911Z","avatar_url":"https://github.com/leggedrobotics.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Elmo EtherCAT SDK\n\n## Overview\nThis is a C++ library providing a high-level interface for controlling [Elmo](https://www.elmomc.com/) motor controllers of the [Gold line](https://www.elmomc.com/products/harsh-environment/servo-drive-gold-family/) over EtherCAT (using the [CANopen over EtherCAT CoE](https://www.ethercat.org/en/technology.html#1.9.1) protocol).\n\nThe lower level EtherCAT communication is handled by the [soem_interface](https://github.com/leggedrobotics/soem_interface) library.\n\nThe elmo_ethercat_sdk is developed on Ubuntu 20.04 LTS with [ROS Noetic](https://wiki.ros.org/noetic).\n\nThe source code is released under the GPLv3 license.\nA copy of the license is available in the *COPYING* file.\n\n**Authors:** Jonas Junger, Johannes Pankert\n\n**Maintainer:** Johannes Pankert, pankertj@ethz.ch\n\n**Contributors:** Fabio Dubois, Lennart Nachtigall, Markus Staeuble, Martin Wermelinger\n\n## Installation\n\n### Dependencies\n\n#### Catkin Packages\n\n| Repo                | url                                                   | License      | Content                             |\n|:-------------------:|:-----------------------------------------------------:|:------------:|:-----------------------------------:|\n| soem_interface      | https://github.com/leggedrobotics/soem_interface.git  | GPLv3        | Low-level EtherCAT functionalities  |\n| ethercat_sdk_master | https://github.com/leggedrobotics/ethercat_sdk_master | BSD 3-Clause | High-level EtherCAT functionalities |\n| message_logger      | https://github.com/leggedrobotics/message_logger.git  | BSD 3-Clause | simple log streams                  |\n\n#### System Dependencies (Ubuntu 20.04 LTS)\n\n- [ROS Noetic](https://wiki.ros.org/noetic)\n- catkin\n- yaml-cpp\n\n\u003e Likely to work on Ubuntu 18.04 with ROS Melodic\n\n### Building from Source\n\nTo build the library from source, clone the latest version from this repository and from the dependencies into your catkin workspace and compile the package using\n\n\tcd catkin_workspace/src\n\tgit clone https://github.com/leggedrobotics/soem_interface.git\n    git clone https://github.com/leggedrobotics/ethercat_sdk_master.git\n    git clone https://github.com/leggedrobotics/message_logger.git\n    git clone https://github.com/leggedrobotics/elmo_ethercat_sdk.git\n\tcd ../\n\tcatkin build elmo_ethercat \n\nTo build the examples, execute the following command inside of your catkin workspace:\n\t\n\tcatkin build elmo_examples\n\t\n\n## Firmware version\nThis library is known to work with the following firmware versions:\n- 01.01.15.00\n- 01.01.16.00\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Felmo_ethercat_sdk","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fleggedrobotics%2Felmo_ethercat_sdk","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Felmo_ethercat_sdk/lists"}