netft: netft_ethercat_hardware | netft_example_controllers | netft_rdt_driver

Stack Summary

netft

• Author: Maintained by Derek King
• License: BSD
• Repository: wg-ros-pkg
• Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/netft/trunk

Documentation

Stack contains software required to use NetFT input with ROS. NetFT measures ATI Force/Torque sensor (F/T) outputs. It can be accessed through Ethernet or CAN interface. However ROS driver only supports communciation with device using RDT protocol over Ethernet.

Transport Layers

Raw Data Transfer (RDT)

The NetFT supports a very simple communication protocol using UDP packets. This protocol is extremely simple to use.

Ethernet/IP

Ethernet/IP is a protocol used for industrial automation. It built upon TCP/UDP communication. The IP in Ethernet/IP stands for Industrial Protocol not Internet Protocol.

CAN bus

CAN Controller Area Network. Is lower speed (max 1Mbit/sec) shared bus.

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