communicate servo with Ros through EtherCAT

I am student and i want to build my own robot arm. I have finished my robot urdf file and MoveIt! setup. Now I have bought Panasonic Servo and motor(MINAS A5B EtherCAT servo drives). But i can't communicate servo with Ros and don't know which package i can use. Should i use ros_control package? Can anyone guide me?

Any hints would be appreciated!

@jackros1022 did you get an answer on that ? why did you close the issue ? It would be interesting to share the answer if you got one.
As far as I understood ros_ethercat (had to look deep into once), there is a scan of the bus to find ethercat id/class and from the id, find a matching driver from pluginlib (

ros_ethercat/ros_ethercat_hardware/src/ethercat_hardware.cpp

Line 821 in c9761e6

// The point of this code to find a class whose name matches the EtherCAT

) using declared drivers (https://github.com/shadow-robot/sr-ros-interface-ethercat/blob/indigo-devel/sr_edc_ethercat_drivers/ethercat_device_plugin.xml) that can unpack and pack the ethercat frames into data that the host can use nicely (for control and feedback)
https://github.com/shadow-robot/sr-ros-interface-ethercat/blob/indigo-devel/sr_edc_ethercat_drivers/pr2_etherCAT.svg