{"id":19855107,"url":"https://github.com/leggedrobotics/rsl_drive_sdk","last_synced_at":"2025-10-28T05:37:55.678Z","repository":{"id":261746891,"uuid":"883244486","full_name":"leggedrobotics/rsl_drive_sdk","owner":"leggedrobotics","description":null,"archived":false,"fork":false,"pushed_at":"2024-11-08T07:04:09.000Z","size":101,"stargazers_count":0,"open_issues_count":0,"forks_count":1,"subscribers_count":17,"default_branch":"main","last_synced_at":"2025-01-11T13:52:42.747Z","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":"bsd-3-clause","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":"LICENSE","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":"2024-11-04T16:15:17.000Z","updated_at":"2024-11-08T07:04:13.000Z","dependencies_parsed_at":"2024-11-08T08:17:51.312Z","dependency_job_id":"2eaf5df3-ce44-4e47-bc85-581c40a718c1","html_url":"https://github.com/leggedrobotics/rsl_drive_sdk","commit_stats":null,"previous_names":["leggedrobotics/rsl_drive_sdk"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Frsl_drive_sdk","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Frsl_drive_sdk/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Frsl_drive_sdk/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Frsl_drive_sdk/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/leggedrobotics","download_url":"https://codeload.github.com/leggedrobotics/rsl_drive_sdk/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":241245247,"owners_count":19933295,"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":"2024-11-12T14:11:43.310Z","updated_at":"2025-10-28T05:37:55.583Z","avatar_url":"https://github.com/leggedrobotics.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# rsl_drive_sdk \n\nSoftware Development Kit for all RSL drives.\\\nThe source code is released under  [BSD 3](LICENSE).\n\n## Supported drives\n\n| Name | Note |\n| ---|  --- |\n| Dynadrive | Fully supported, including calibration |\n| Halodi drives | Fully supported, including calibration |\n| Other | There are additional, but not officially supported drives | \n\n\n## Dependencies\n\n#### Manual dependencies:\n\n| Repository | URL | License | Content |\n| --- | - | --- | --- |\n| ethercat_sdk_master | https://github.com/leggedrobotics/ethercat_sdk_master/tree/master/ethercat_sdk_master | BSD 3-Clause | Ethercat master implementation | \n| soem_interface | https://github.com/leggedrobotics/soem_interface | GPLv3 | Wrapper around [SOEM](https://github.com/OpenEtherCATsociety/soem) | \n| message_logger | https://github.com/leggedrobotics/message_logger.git | BSD 3-Clause | Simple logger |\n\n#### Installable via rosdep:\n\n| Repository | URL | License | Content |\n| --- | - | --- | --- |\n| yaml_cpp_vendor |https://github.com/ros2/yaml_cpp_vendor | Apache 2.0 / MIT | yaml library | \n\n## Usage\n\nPull in the latest code into your local ROS2 workspace including the above mentioned _manual dependencies_.\nFor an example on how to use the SDK standalone take a look at the [example](https://github.com/leggedrobotics/ethercat_device_configurator/blob/master/ethercat_device_configurator/src/standalone.cpp) at the [ethercat_device_configurator](https://github.com/leggedrobotics/ethercat_device_configurator).\n\n## Setup\n\n### Allow your user to set priorities and niceness\n\nThe provided executables perform best when they are given higher priority than other processes.\nBy default, a linux user or group cannot set priorities higher than 0.\nTo allow your linux user account to do so, you need to append the following entries to the ``/etc/security/limits.conf`` file (replacing ``\u003cusername\u003e``):\n\n```\n\u003cusername\u003e       -       rtprio          99\n\u003cusername\u003e       -       nice            -20\n```\n\nTo allow your entire group to set higher priorities, append (replacing ``\u003cgroupname\u003e``):\n\n```\n@\u003cgroupname\u003e     -       rtprio          99\n@\u003cgroupname\u003e     -       nice            -20\n```\n\n\n\n## Configuration files\n\nSee the setup in the `ethercat_device_configurator`: [link](https://github.com/leggedrobotics/ethercat_device_configurator/tree/master/ethercat_device_configurator/example_config)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Frsl_drive_sdk","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fleggedrobotics%2Frsl_drive_sdk","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Frsl_drive_sdk/lists"}