leggedrobotics / ethercat_device_configurator

Manages setup yaml files for the RSL ethercat infrastructure

EtherCAT Device Configurator

Configures the EtherCAT communication with the following sdks:

• anydrive_sdk
• elmo_ethercat_sdk
• rokubimini_ethercat_sdk
• elmo_ethercat_sdk
• maxon_epos_ethercat_sdk

Any single SDK or any combination of SDKs may be used. The build system automatically builds the EtherCAT device SDKs available in the current catkin workspace.

In the future this will be changed to a plugin architecture

Building

Requires gcc ≥ 7.5 (default for Ubuntu ≥ 18.04).

Dependencies

• optional anydrive_sdk (master)
• optional rokubimini_ethercat_sdk (master)
• optional elmo_ethercat_sdk (master)
• optional maxon_epos_ethercat_sdk (master)
• ethercat_sdk_master (master)
• soem_interface_rsl (release)
• message_logger (master)
• any_node (master)
• yaml-cpp (system install)