Software Development Kit for all RSL drives.
The source code is released under BSD 3.
| Name | Note |
|---|---|
| Dynadrive | Fully supported, including calibration |
| Halodi drives | Fully supported, including calibration |
| Other | There are additional, but not officially supported drives |
| Repository | URL | License | Content |
|---|---|---|---|
| ethercat_sdk_master | https://github.com/leggedrobotics/ethercat_sdk_master/tree/master/ethercat_sdk_master | BSD 3-Clause | Ethercat master implementation |
| soem_interface | https://github.com/leggedrobotics/soem_interface | GPLv3 | Wrapper around SOEM |
| message_logger | https://github.com/leggedrobotics/message_logger.git | BSD 3-Clause | Simple logger |
| Repository | URL | License | Content |
|---|---|---|---|
| yaml_cpp_vendor | https://github.com/ros2/yaml_cpp_vendor | Apache 2.0 / MIT | yaml library |
Pull in the latest code into your local ROS2 workspace including the above mentioned manual dependencies. For an example on how to use the SDK standalone take a look at the example at the ethercat_device_configurator.
The provided executables perform best when they are given higher priority than other processes.
By default, a linux user or group cannot set priorities higher than 0.
To allow your linux user account to do so, you need to append the following entries to the /etc/security/limits.conf file (replacing <username>):
<username> - rtprio 99
<username> - nice -20
To allow your entire group to set higher priorities, append (replacing <groupname>):
@<groupname> - rtprio 99
@<groupname> - nice -20
See the setup in the ethercat_device_configurator: link