Drivers implementation for ROS - rtt_soem

Hello,


I'm looking forward to implement few of the drivers you have made for LinuxCNC to work with ROS.
Actually I got working many of the Beckhoff EtherCAT terminals, but I have some issues to get working the x9xx (TwinSAFE).

I'm working based on this rtt_soem . I know that the drivers aren't made in same way. But looking to try to get the information needed to get working: EL6900 and EL2904.

Maybe @sittner know about it?.


Regards

I had not seen that section. I will put the message there.

Thanks

Hello,

i don't know if the soem already supports FSOE communication, i can't find anything about that... (Fail Safe Over Ethernet).

In an Fsoe System the FSOE Master of the Twinsafe Group (EL69XX) talks directly to the other TwinSafe Cards which are added to this group. (FSOE StateMachine, CRCs etc.) Your Master or your driver implementation has to do this packet routing. You can find the implementation of this in linuxcnc-ethercat in lcec.c and el6900.c .

A Twinsafe configuration has to be done in Twincat, and you can map external Bits to the status and control bits of the Twinsafe Group (run, error, reset ...)

Have a look at the pdo configuration in twincat to get an overview of this.

Hello thanks for the reply.
I already saw a company that provides the FSOE implementation at some cost. But that will be not the way to go.

We turn a bit our research and we are looking forward to implement ROS with LinuxCNC.

I'm now trying to understand the code, see how HAL works to implement it with Orocos.
I put here the link in case someone want to have a look: github.com/orocos/rtt_ros_integration


I case someone knows about HAL code and how implementation can be done. I will glad to see those messages or hints.

I'm looking to interact right now, with the HAL configuration like in this example with ROS topics: github.com/grotius-cnc/hal-kinematics/blob/main/README.md

Any information is more than welcome.

Edit: With the last GitHub example I wanted to show the image. That process will be a good start point.

Regards

You need to use a message buffer like hal_streamer to communicate from the userspace to rt space and back. So you would use hal_streamer to create a shared memory queue and then write a program that writes messages to that queue. C and python can be used.