https://github.com/leggedrobotics/elmo_ethercat_sdk
https://github.com/leggedrobotics/elmo_ethercat_sdk
Last synced: about 1 year ago
JSON representation
- Host: GitHub
- URL: https://github.com/leggedrobotics/elmo_ethercat_sdk
- Owner: leggedrobotics
- License: gpl-3.0
- Created: 2020-05-07T13:26:18.000Z (about 6 years ago)
- Default Branch: master
- Last Pushed: 2024-03-15T13:15:19.000Z (over 2 years ago)
- Last Synced: 2025-04-06T20:46:32.681Z (about 1 year ago)
- Language: C++
- Size: 243 KB
- Stars: 85
- Watchers: 26
- Forks: 37
- Open Issues: 4
-
Metadata Files:
- Readme: README.md
- License: COPYING
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README
# Elmo EtherCAT SDK
## Overview
This 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).
The lower level EtherCAT communication is handled by the [soem_interface](https://github.com/leggedrobotics/soem_interface) library.
The elmo_ethercat_sdk is developed on Ubuntu 20.04 LTS with [ROS Noetic](https://wiki.ros.org/noetic).
The source code is released under the GPLv3 license.
A copy of the license is available in the *COPYING* file.
**Authors:** Jonas Junger, Johannes Pankert
**Maintainer:** Johannes Pankert, pankertj@ethz.ch
**Contributors:** Fabio Dubois, Lennart Nachtigall, Markus Staeuble, Martin Wermelinger
## Installation
### Dependencies
#### Catkin Packages
| Repo | url | License | Content |
|:-------------------:|:-----------------------------------------------------:|:------------:|:-----------------------------------:|
| soem_interface | https://github.com/leggedrobotics/soem_interface.git | GPLv3 | Low-level EtherCAT functionalities |
| ethercat_sdk_master | https://github.com/leggedrobotics/ethercat_sdk_master | BSD 3-Clause | High-level EtherCAT functionalities |
| message_logger | https://github.com/leggedrobotics/message_logger.git | BSD 3-Clause | simple log streams |
#### System Dependencies (Ubuntu 20.04 LTS)
- [ROS Noetic](https://wiki.ros.org/noetic)
- catkin
- yaml-cpp
> Likely to work on Ubuntu 18.04 with ROS Melodic
### Building from Source
To 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
cd catkin_workspace/src
git clone https://github.com/leggedrobotics/soem_interface.git
git clone https://github.com/leggedrobotics/ethercat_sdk_master.git
git clone https://github.com/leggedrobotics/message_logger.git
git clone https://github.com/leggedrobotics/elmo_ethercat_sdk.git
cd ../
catkin build elmo_ethercat
To build the examples, execute the following command inside of your catkin workspace:
catkin build elmo_examples
## Firmware version
This library is known to work with the following firmware versions:
- 01.01.15.00
- 01.01.16.00