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shadow_robot_ethercat: sr_edc_controller_configuration | sr_edc_ethercat_drivers | sr_edc_launch | sr_external_dependencies | sr_robot_lib

Package Summary

sr_robot_lib contains the robot library used in the sr_edc_ethercat_drivers. The library is used to store the incoming etherCAT messages in an easy to access format, and prepare the messages to be send through etherCAT.

shadow_robot_ethercat: sr_edc_controller_configuration | sr_edc_ethercat_drivers | sr_edc_launch | sr_edc_muscle_tools | sr_external_dependencies | sr_robot_lib

Package Summary

sr_robot_lib contains the robot library used in the sr_edc_ethercat_drivers. The library is used to store the incoming etherCAT messages in an easy to access format, and prepare the messages to be send through etherCAT.

shadow_robot_ethercat: sr_edc_controller_configuration | sr_edc_ethercat_drivers | sr_edc_launch | sr_edc_muscle_tools | sr_external_dependencies | sr_robot_lib

Package Summary

sr_robot_lib contains the robot library used in the sr_edc_ethercat_drivers. The library is used to store the incoming etherCAT messages in an easy to access format, and prepare the messages to be send through etherCAT.

shadow_robot_ethercat: sr_edc_controller_configuration | sr_edc_ethercat_drivers | sr_edc_launch | sr_edc_muscle_tools | sr_external_dependencies | sr_robot_lib

Package Summary

sr_robot_lib contains the robot library used in the sr_edc_ethercat_drivers. The library is used to store the incoming etherCAT messages in an easy to access format, and prepare the messages to be send through etherCAT.

Overview

The sr_robot_lib package is where the incoming etherCAT packets are interpreted and stored in the correct structured to be made available for the controllers.

This package also contains a class which builds the etherCAT command we want to send to the hand, based on the configuration file motor_data_polling.yaml, the data is updated at different rates.

Config files

The config folder contains most of the configuration for the hand driver (except the controller configuration):


2019-11-30 13:17