ec_single_axis

Test hardware configuration for single axis actuation with ethercat_driver_ros2.

Getting Started

Required setup : Ubuntu 22.04 LTS

Install ros2 packages. The current development is based of ros2 humble. Installation steps are described here.
Source your ros2 environment:
```
source /opt/ros/humble/setup.bash
```
NOTE: The ros2 environment needs to be sources in every used terminal. If only one distribution of ros2 is used, it can be added to the ~/.bashrc file.

Install colcon and its extensions :

sudo apt install python3-colcon-common-extensions

Create a new ros2 workspace:
```
mkdir ~/ros2_ws/src
```

Pull relevant packages, install dependencies, compile, and source the workspace by using:

cd ~/ros2_ws
git clone https://github.com/mcbed/ec_single_axis.git src/iiwa_ros2
vcs import src < ec_single_axis.repos
rosdep install --ignore-src --from-paths . -y -r
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
source install/setup.bash

NOTE: The ec_single_axis.repos file contains links to ros2 packages that need to be source-built to use their newest features.

Run the system:

ros2 launch ec_single_axis_bringup ec_single_axis.launch.py

Contacts

ICube Laboratory, University of Strasbourg, France

Maciej Bednarczyk: m.bednarczyk@unistra.fr, @github: mcbed