This is a C++ library providing a high-level interface for controlling Maxon motor drivers of the EPOS line over EtherCAT (using the CANopen over EtherCAT CoE protocol). It is modified by Linghao Zhang based on elmo_ethercat_sdk by Jonas Junger.
The lower level EtherCAT communication is handled by the soem_interface library.
The maxon_epos_ethercat_sdk is developed on Ubuntu 20.04 LTS with ROS Noetic.
The source code is released under the BSD-3-Clause license. A copy of the license is available in the LICENSE file.
Authors: Linghao Zhang, Jonas Junger, Lennart Nachtigall
Maintainer: Linghao Zhang, lingzhang@ethz.ch
Contributors: Fabio Dubois, Markus Staeuble, Martin Wermelinger
| 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 |
- ROS Noetic
- catkin
- yaml-cpp
Likely to work with ROS Meolodic and Ubuntu 18.04 LTS
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/maxon_epos_ethercat_sdk.git
cd ../
catkin build maxon_epos_ethercat_sdkSee ethercat_device_configurator for an minimal working example.
See Usage.md.
See Contributing.md