netft: netft_ethercat_hardware | netft_example_controllers | netft_rdt_driver
Package Summary
pr2_etherCAT/ethercat_hardware driver plugin for NetFT sensor NetFT does not use EtherCAT, however, having plugin allows realtime controllers get data from NetFT box.
- Author: Derek King
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/netft/trunk/netft_ethercat_hardware
Contents
Introduction
Package provides ethercat_hardware plugin for NetFT force/torque sensor. Driver does not communicate over EtherCAT chain, but instead uses its own UDP connection. Having NetFT sensor act as ethercat_hardware plugin (as opposed to ROS node) allows realtime controllers to obtain force/torque values as analog inputs
If force/torque data is not needed by realtime controllers, consider using netft_node from netft_rdt_driver package.
Install
Driver will only currently work with pr2_ethercat_drivers stack from trunk. As such, a special overlay is needed to make things operate correctly. See tutorials for directions.