I was looking for a way to use EtherCat with Orocos with Xenomai in hard real-time. I came across quite a lot of information (yet very sparse and unorganized, when not out of date). Then I found this brochure:
<http://www.thesourceworks.com/sites/default/files/Orocos-training-brochure-apr-2011.pdf>
It states that there is an EtherCat Orocos Component somewhere, that I was not able to find anywhere in the API documentation.
I am not aware of any existing topic which thoroughly covers this subject so I hope this one could serve as a reference if needed.
- How do I get this EtherCat Orocos Component? - How to install it? What are the dependencies? - Is there a specific card needed? Is there a specific way to set it up or plug it? - Is there a specific documentation? Where to get it?
Thank you,
Flavian
EtherCat Orocos Component
Hi,
currently you need ROS to install the Ethercat drivers for OROCOS.
This is how we installed it:
http://www.kieltech.de/uweswiki/ROS
It is possible that the KU Leuven people found a way to install the
drivers without ROS (it was on their TODO list).
We also have some additional drivers for the Ethercat modules:
soem_el3068
soem_el3112
soem_el5152
I can provide them if someone needs them.
Regards:
Uwe Fechner, TU Delft
On 29.05.2013 15:56, f [dot] hautbois [..] ... wrote:
> I was looking for a way to use EtherCat with Orocos with Xenomai in hard
> real-time. I came across quite a lot of information (yet very sparse and
> unorganized, when not out of date). Then I found this brochure:
>
>
>
> It states that there is an EtherCat Orocos Component somewhere, that I was
> not able to find anywhere in the API documentation.
>
> I am not aware of any existing topic which thoroughly covers this subject so
> I hope this one could serve as a reference if needed.
>
> - How do I get this EtherCat Orocos Component?
> - How to install it? What are the dependencies?
> - Is there a specific card needed? Is there a specific way to set it up or
> plug it?
> - Is there a specific documentation? Where to get it?
>
> Thank you,
>
> Flavian
EtherCat Orocos Component
2013/5/29 Uwe Fechner <u [dot] fechner [..] ...>
> Hi,
>
> currently you need ROS to install the Ethercat drivers for OROCOS.
>
> This is how we installed it:
> http://www.kieltech.de/**uweswiki/ROS<http://www.kieltech.de/uweswiki/ROS>
>
> It is possible that the KU Leuven people found a way to install the
> drivers without ROS (it was on their TODO list).
>
> We also have some additional drivers for the Ethercat modules:
> soem_el3068
> soem_el3112
> soem_el5152
>
> I can provide them if someone needs them.
>
Do they satisfy the constraint of hard real-time? I thought ROS in general
was not taking it into account.
Thanks
>
> Regards:
>
> Uwe Fechner, TU Delft
>
> On 29.05.2013 15:56, f [dot] hautbois [..] ... wrote:
>
>> I was looking for a way to use EtherCat with Orocos with Xenomai in hard
>> real-time. I came across quite a lot of information (yet very sparse and
>> unorganized, when not out of date). Then I found this brochure:
>>
>>
>>
>> It states that there is an EtherCat Orocos Component somewhere, that I was
>> not able to find anywhere in the API documentation.
>>
>> I am not aware of any existing topic which thoroughly covers this subject
>> so
>> I hope this one could serve as a reference if needed.
>>
>> - How do I get this EtherCat Orocos Component?
>> - How to install it? What are the dependencies?
>> - Is there a specific card needed? Is there a specific way to set it up or
>> plug it?
>> - Is there a specific documentation? Where to get it?
>>
>> Thank you,
>>
>> Flavian
>>
>
>
> --
> ------------------------------**----------
> Uwe Fechner, M.Sc.
> Delft University of Technology
> Faculty of Aerospace Engineering/ASSET
> Kluyverweg 1,
> 2629 HS Delft, The Netherlands
> Phone: +31-15-27-88902
>
>
EtherCat Orocos Component
There is no need to use the ROS messages, but without having ROS installed
the drivers do not compile.
To get hard real-time you need:
- OROCOS
- Xenomai
- RTNET (http://www.rtnet.org/)
and a lot of patience to make everything work.
Regards:
Uwe
Am 29.05.2013 16:21, schrieb Flavian Hautbois:u [dot] fechner [..] ...>>
>
>
>
> 2013/5/29 Uwe Fechner <u [dot] fechner [..] ...
>
> Hi,
>
> currently you need ROS to install the Ethercat drivers for OROCOS.
>
> This is how we installed it:
> http://www.kieltech.de/uweswiki/ROS
>
> It is possible that the KU Leuven people found a way to install the
> drivers without ROS (it was on their TODO list).
>
> We also have some additional drivers for the Ethercat modules:
> soem_el3068
> soem_el3112
> soem_el5152
>
> I can provide them if someone needs them.
>
>
> Do they satisfy the constraint of hard real-time? I thought ROS in general was not taking it into
> account.
>
> Thanks
>
>
> Regards:
>
> Uwe Fechner, TU Delft
>
> On 29.05.2013 15:56, f [dot] hautbois [..] ... <mailto:f [dot] hautbois [..] ...> wrote:
>
> I was looking for a way to use EtherCat with Orocos with Xenomai in hard
> real-time. I came across quite a lot of information (yet very sparse and
> unorganized, when not out of date). Then I found this brochure:
>
>
>
> It states that there is an EtherCat Orocos Component somewhere, that I was
> not able to find anywhere in the API documentation.
>
> I am not aware of any existing topic which thoroughly covers this subject so
> I hope this one could serve as a reference if needed.
>
> - How do I get this EtherCat Orocos Component?
> - How to install it? What are the dependencies?
> - Is there a specific card needed? Is there a specific way to set it up or
> plug it?
> - Is there a specific documentation? Where to get it?
>
> Thank you,
>
> Flavian
>
>
>
> --
> ----------------------------------------
> Uwe Fechner, M.Sc.
> Delft University of Technology
> Faculty of Aerospace Engineering/ASSET
> Kluyverweg 1,
> 2629 HS Delft, The Netherlands
> Phone: +31-15-27-88902
>
>
>
>
EtherCat Orocos Component
Thank you for the quick responses. A few additional questions:
- How is the ethercat driver presented concretely? I gathered you need to
things: the right typekit (which is provided by ROS), and the right driver
(which would take advantage of the RTNET protocol).
- Is there any limitation on the hardware at all?
- You mention it requires a lot of patience, but I guess someone must have
done it before; I usually make a light documentation for tedious tasks,
maybe there's something similar existing somwhere?
Regards
2013/5/29 Uwe Fechner <u [dot] fechner [..] ...>
> There is no need to use the ROS messages, but without having ROS
> installed
> the drivers do not compile.
>
> To get hard real-time you need:
> - OROCOS
> - Xenomai
> - RTNET (http://www.rtnet.org/)
>
> and a lot of patience to make everything work.
>
> Regards:
>
> Uwe
>
> Am 29.05.2013 16:21, schrieb Flavian Hautbois:
>
>
>
>
> 2013/5/29 Uwe Fechner <u [dot] fechner [..] ...>
>
>> Hi,
>>
>> currently you need ROS to install the Ethercat drivers for OROCOS.
>>
>> This is how we installed it:
>> http://www.kieltech.de/uweswiki/ROS
>>
>> It is possible that the KU Leuven people found a way to install the
>> drivers without ROS (it was on their TODO list).
>>
>> We also have some additional drivers for the Ethercat modules:
>> soem_el3068
>> soem_el3112
>> soem_el5152
>>
>> I can provide them if someone needs them.
>>
>
> Do they satisfy the constraint of hard real-time? I thought ROS in
> general was not taking it into account.
>
> Thanks
>
>
>>
>> Regards:
>>
>> Uwe Fechner, TU Delft
>>
>> On 29.05.2013 15:56, f [dot] hautbois [..] ... wrote:
>>
>>> I was looking for a way to use EtherCat with Orocos with Xenomai in hard
>>> real-time. I came across quite a lot of information (yet very sparse and
>>> unorganized, when not out of date). Then I found this brochure:
>>>
>>>
>>>
>>> It states that there is an EtherCat Orocos Component somewhere, that I
>>> was
>>> not able to find anywhere in the API documentation.
>>>
>>> I am not aware of any existing topic which thoroughly covers this
>>> subject so
>>> I hope this one could serve as a reference if needed.
>>>
>>> - How do I get this EtherCat Orocos Component?
>>> - How to install it? What are the dependencies?
>>> - Is there a specific card needed? Is there a specific way to set it up
>>> or
>>> plug it?
>>> - Is there a specific documentation? Where to get it?
>>>
>>> Thank you,
>>>
>>> Flavian
>>>
>>
>>
>> --
>> ----------------------------------------
>> Uwe Fechner, M.Sc.
>> Delft University of Technology
>> Faculty of Aerospace Engineering/ASSET
>> Kluyverweg 1,
>> 2629 HS Delft, The Netherlands
>> Phone: +31-15-27-88902
>>
>>
>
>
> --
> F. Hautbois
>
>
>
> --
> ---------------------------------------------
> Uwe Fechner, M.Sc.
> Delft University of Technology
> Faculty of Aerospace Engineering/ Wind Energy
> Kluyverweg 1,
> 2629 HS Delft, The Netherlands
> Phone: +31-15-27-88902
>
>
EtherCat Orocos Component
Hello Flavian,
On Thu, May 30, 2013 at 9:06 AM, Flavian Hautbois <f [dot] hautbois [..] ...>wrote:
> Thank you for the quick responses. A few additional questions:
>
> - How is the ethercat driver presented concretely? I gathered you need to
> things: the right typekit (which is provided by ROS), and the right driver
> (which would take advantage of the RTNET protocol).
>
There is a git repository (git.mech.kuleuven.be/robotics/soem.git)
containing various ros packages:
soem_core: A package that builds a download of the official soem package
including a patch to work with RTNet (only used if RTNet is detected, only
realtime in combination ) (only needs ROS for the buildsystem)
soem_master: A package that contains an generic SoemMaster as an orocos
component and a plugin system for Orocos based Ethercat slave drivers using
the soem_core package (is realtime if build with Xenomai and soem_core with
RTNet/Xenomai)(only needs ROS for the buildsystem)
soem_beckhoff_drivers: A package containing several Orocos based Ethercat
slave drivers for Beckhoff slaves to be used in conjunction with the above
mentioned soem_master (only needs ROS for the buildsystem and .msg to .h
file generation)
soem_ebox: A package containing a driver for the EBox slave, a piece of
hardware manufactured by SMF Ketels (http://www.smfk.nl)
What's not in there and you would need to provide yourself: a Xenomai
installation, an RTNet installation, a slave driver if none exists yet for
your specific slave.
> - Is there any limitation on the hardware at all?
>
Especially on the RTNet side, RTNet has only a limited set of supported
NICs, you should check www.rtnet.org/doc.html for more info
> - You mention it requires a lot of patience, but I guess someone must have
> done it before; I usually make a light documentation for tedious tasks,
> maybe there's something similar existing somwhere?
>
Finding the right combination of Linux kernel version, Xenomai version,
RTNet version and Orocos Toolchain version is the biggest challenge IMO.
There are at least one combinations that will definitely not work (see the
mailinglist) that I know of: Soem with Xenomai > 2.5.6 .
Ruben
> Regards
>
>
> 2013/5/29 Uwe Fechner <u [dot] fechner [..] ...>
>
>> There is no need to use the ROS messages, but without having ROS
>> installed
>> the drivers do not compile.
>>
>> To get hard real-time you need:
>> - OROCOS
>> - Xenomai
>> - RTNET (http://www.rtnet.org/)
>>
>> and a lot of patience to make everything work.
>>
>> Regards:
>>
>> Uwe
>>
>> Am 29.05.2013 16:21, schrieb Flavian Hautbois:
>>
>>
>>
>>
>> 2013/5/29 Uwe Fechner <u [dot] fechner [..] ...>
>>
>>> Hi,
>>>
>>> currently you need ROS to install the Ethercat drivers for OROCOS.
>>>
>>> This is how we installed it:
>>> http://www.kieltech.de/uweswiki/ROS
>>>
>>> It is possible that the KU Leuven people found a way to install the
>>> drivers without ROS (it was on their TODO list).
>>>
>>> We also have some additional drivers for the Ethercat modules:
>>> soem_el3068
>>> soem_el3112
>>> soem_el5152
>>>
>>> I can provide them if someone needs them.
>>>
>>
>> Do they satisfy the constraint of hard real-time? I thought ROS in
>> general was not taking it into account.
>>
>> Thanks
>>
>>
>>>
>>> Regards:
>>>
>>> Uwe Fechner, TU Delft
>>>
>>> On 29.05.2013 15:56, f [dot] hautbois [..] ... wrote:
>>>
>>>> I was looking for a way to use EtherCat with Orocos with Xenomai in hard
>>>> real-time. I came across quite a lot of information (yet very sparse and
>>>> unorganized, when not out of date). Then I found this brochure:
>>>>
>>>>
>>>>
>>>> It states that there is an EtherCat Orocos Component somewhere, that I
>>>> was
>>>> not able to find anywhere in the API documentation.
>>>>
>>>> I am not aware of any existing topic which thoroughly covers this
>>>> subject so
>>>> I hope this one could serve as a reference if needed.
>>>>
>>>> - How do I get this EtherCat Orocos Component?
>>>> - How to install it? What are the dependencies?
>>>> - Is there a specific card needed? Is there a specific way to set it up
>>>> or
>>>> plug it?
>>>> - Is there a specific documentation? Where to get it?
>>>>
>>>> Thank you,
>>>>
>>>> Flavian
>>>>
>>>
>>>
>>> --
>>> ----------------------------------------
>>> Uwe Fechner, M.Sc.
>>> Delft University of Technology
>>> Faculty of Aerospace Engineering/ASSET
>>> Kluyverweg 1,
>>> 2629 HS Delft, The Netherlands
>>> Phone: +31-15-27-88902
>>>
>>>
>>
>>
>> --
>> F. Hautbois
>>
>>
>>
>> --
>> ---------------------------------------------
>> Uwe Fechner, M.Sc.
>> Delft University of Technology
>> Faculty of Aerospace Engineering/ Wind Energy
>> Kluyverweg 1,
>> 2629 HS Delft, The Netherlands
>> Phone: +31-15-27-88902
>>
>>
>
>
> --
> F. Hautbois
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
>
EtherCat Orocos Component
2013/5/30 Ruben Smits <ruben [dot] smits [..] ...>
> Hello Flavian,
>
>
> On Thu, May 30, 2013 at 9:06 AM, Flavian Hautbois <f [dot] hautbois [..] ...>wrote:
>
>> Thank you for the quick responses. A few additional questions:
>>
>> - How is the ethercat driver presented concretely? I gathered you need to
>> things: the right typekit (which is provided by ROS), and the right driver
>> (which would take advantage of the RTNET protocol).
>>
>
> There is a git repository (git.mech.kuleuven.be/robotics/soem.git)
> containing various ros packages:
>
> soem_core: A package that builds a download of the official soem package
> including a patch to work with RTNet (only used if RTNet is detected, only
> realtime in combination ) (only needs ROS for the buildsystem)
> soem_master: A package that contains an generic SoemMaster as an orocos
> component and a plugin system for Orocos based Ethercat slave drivers using
> the soem_core package (is realtime if build with Xenomai and soem_core with
> RTNet/Xenomai)(only needs ROS for the buildsystem)
> soem_beckhoff_drivers: A package containing several Orocos based Ethercat
> slave drivers for Beckhoff slaves to be used in conjunction with the above
> mentioned soem_master (only needs ROS for the buildsystem and .msg to .h
> file generation)
> soem_ebox: A package containing a driver for the EBox slave, a piece of
> hardware manufactured by SMF Ketels (http://www.smfk.nl)
>
> What's not in there and you would need to provide yourself: a Xenomai
> installation, an RTNet installation, a slave driver if none exists yet for
> your specific slave.
>
That part was very clear, thank you.
>
>
>> - Is there any limitation on the hardware at all?
>>
>
> Especially on the RTNet side, RTNet has only a limited set of supported
> NICs, you should check www.rtnet.org/doc.html for more info
>
>
>> - You mention it requires a lot of patience, but I guess someone must
>> have done it before; I usually make a light documentation for tedious
>> tasks, maybe there's something similar existing somwhere?
>>
>
> Finding the right combination of Linux kernel version, Xenomai version,
> RTNet version and Orocos Toolchain version is the biggest challenge IMO.
>
> There are at least one combinations that will definitely not work (see the
> mailinglist) that I know of: Soem with Xenomai > 2.5.6 .
>
Well that's a big problem: I'm running Xenomai 2.6.2.1. However I just
found a topic on the mailing-list where someone got it running on Xenomai
2.6.0
<
http://www.orocos.org/forum/orocos/orocos-users/cpu-time-limit-exceeded-...
>
>
> Ruben
>
>
>> Regards
>>
>>
>> 2013/5/29 Uwe Fechner <u [dot] fechner [..] ...>
>>
>>> There is no need to use the ROS messages, but without having ROS
>>> installed
>>> the drivers do not compile.
>>>
>>> To get hard real-time you need:
>>> - OROCOS
>>> - Xenomai
>>> - RTNET (http://www.rtnet.org/)
>>>
>>> and a lot of patience to make everything work.
>>>
>>> Regards:
>>>
>>> Uwe
>>>
>>> Am 29.05.2013 16:21, schrieb Flavian Hautbois:
>>>
>>>
>>>
>>>
>>> 2013/5/29 Uwe Fechner <u [dot] fechner [..] ...>
>>>
>>>> Hi,
>>>>
>>>> currently you need ROS to install the Ethercat drivers for OROCOS.
>>>>
>>>> This is how we installed it:
>>>> http://www.kieltech.de/uweswiki/ROS
>>>>
>>>> It is possible that the KU Leuven people found a way to install the
>>>> drivers without ROS (it was on their TODO list).
>>>>
>>>> We also have some additional drivers for the Ethercat modules:
>>>> soem_el3068
>>>> soem_el3112
>>>> soem_el5152
>>>>
>>>> I can provide them if someone needs them.
>>>>
>>>
>>> Do they satisfy the constraint of hard real-time? I thought ROS in
>>> general was not taking it into account.
>>>
>>> Thanks
>>>
>>>
>>>>
>>>> Regards:
>>>>
>>>> Uwe Fechner, TU Delft
>>>>
>>>> On 29.05.2013 15:56, f [dot] hautbois [..] ... wrote:
>>>>
>>>>> I was looking for a way to use EtherCat with Orocos with Xenomai in
>>>>> hard
>>>>> real-time. I came across quite a lot of information (yet very sparse
>>>>> and
>>>>> unorganized, when not out of date). Then I found this brochure:
>>>>>
>>>>>
>>>>>
>>>>> It states that there is an EtherCat Orocos Component somewhere, that I
>>>>> was
>>>>> not able to find anywhere in the API documentation.
>>>>>
>>>>> I am not aware of any existing topic which thoroughly covers this
>>>>> subject so
>>>>> I hope this one could serve as a reference if needed.
>>>>>
>>>>> - How do I get this EtherCat Orocos Component?
>>>>> - How to install it? What are the dependencies?
>>>>> - Is there a specific card needed? Is there a specific way to set it
>>>>> up or
>>>>> plug it?
>>>>> - Is there a specific documentation? Where to get it?
>>>>>
>>>>> Thank you,
>>>>>
>>>>> Flavian
>>>>>
>>>>
>>>>
>>>> --
>>>> ----------------------------------------
>>>> Uwe Fechner, M.Sc.
>>>> Delft University of Technology
>>>> Faculty of Aerospace Engineering/ASSET
>>>> Kluyverweg 1,
>>>> 2629 HS Delft, The Netherlands
>>>> Phone: +31-15-27-88902
>>>>
>>>>
>>>
>>>
>>> --
>>> F. Hautbois
>>>
>>>
>>>
>>> --
>>> ---------------------------------------------
>>> Uwe Fechner, M.Sc.
>>> Delft University of Technology
>>> Faculty of Aerospace Engineering/ Wind Energy
>>> Kluyverweg 1,
>>> 2629 HS Delft, The Netherlands
>>> Phone: +31-15-27-88902
>>>
>>>
>>
>>
>> --
>> F. Hautbois
>>
>> --
>> Orocos-Users mailing list
>> Orocos-Users [..] ...
>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>>
>>
>
>
> --
> Ruben Smits, Phd
> Chief Technology Officer
> Intermodalics BVBA
> +32479511786
> www.intermodalics.eu
>
EtherCat Orocos Component
On Thu, May 30, 2013 at 10:26 AM, Flavian Hautbois <f [dot] hautbois [..] ...>wrote:
>
>
>
> 2013/5/30 Ruben Smits <ruben [dot] smits [..] ...>
>
>> Hello Flavian,
>>
>>
>> On Thu, May 30, 2013 at 9:06 AM, Flavian Hautbois <f [dot] hautbois [..] ...>wrote:
>>
>>> Thank you for the quick responses. A few additional questions:
>>>
>>> - How is the ethercat driver presented concretely? I gathered you need
>>> to things: the right typekit (which is provided by ROS), and the right
>>> driver (which would take advantage of the RTNET protocol).
>>>
>>
>> There is a git repository (git.mech.kuleuven.be/robotics/soem.git)
>> containing various ros packages:
>>
>> soem_core: A package that builds a download of the official soem package
>> including a patch to work with RTNet (only used if RTNet is detected, only
>> realtime in combination ) (only needs ROS for the buildsystem)
>> soem_master: A package that contains an generic SoemMaster as an orocos
>> component and a plugin system for Orocos based Ethercat slave drivers using
>> the soem_core package (is realtime if build with Xenomai and soem_core with
>> RTNet/Xenomai)(only needs ROS for the buildsystem)
>> soem_beckhoff_drivers: A package containing several Orocos based Ethercat
>> slave drivers for Beckhoff slaves to be used in conjunction with the above
>> mentioned soem_master (only needs ROS for the buildsystem and .msg to .h
>> file generation)
>> soem_ebox: A package containing a driver for the EBox slave, a piece of
>> hardware manufactured by SMF Ketels (http://www.smfk.nl)
>>
>> What's not in there and you would need to provide yourself: a Xenomai
>> installation, an RTNet installation, a slave driver if none exists yet for
>> your specific slave.
>>
>
> That part was very clear, thank you.
>
>
>>
>>
>>> - Is there any limitation on the hardware at all?
>>>
>>
>> Especially on the RTNet side, RTNet has only a limited set of supported
>> NICs, you should check www.rtnet.org/doc.html for more info
>>
>>
>>> - You mention it requires a lot of patience, but I guess someone must
>>> have done it before; I usually make a light documentation for tedious
>>> tasks, maybe there's something similar existing somwhere?
>>>
>>
>> Finding the right combination of Linux kernel version, Xenomai version,
>> RTNet version and Orocos Toolchain version is the biggest challenge IMO.
>>
>> There are at least one combinations that will definitely not work (see
>> the mailinglist) that I know of: Soem with Xenomai > 2.5.6 .
>>
>
> Well that's a big problem: I'm running Xenomai 2.6.2.1. However I just
> found a topic on the mailing-list where someone got it running on Xenomai
> 2.6.0
> <
> http://www.orocos.org/forum/orocos/orocos-users/cpu-time-limit-exceeded-...
> >
>
>
In this case I would give it a try with Xenomai 2.6.2 ;)
Ruben
>
>> Ruben
>>
>>
>>> Regards
>>>
>>>
>>> 2013/5/29 Uwe Fechner <u [dot] fechner [..] ...>
>>>
>>>> There is no need to use the ROS messages, but without having ROS
>>>> installed
>>>> the drivers do not compile.
>>>>
>>>> To get hard real-time you need:
>>>> - OROCOS
>>>> - Xenomai
>>>> - RTNET (http://www.rtnet.org/)
>>>>
>>>> and a lot of patience to make everything work.
>>>>
>>>> Regards:
>>>>
>>>> Uwe
>>>>
>>>> Am 29.05.2013 16:21, schrieb Flavian Hautbois:
>>>>
>>>>
>>>>
>>>>
>>>> 2013/5/29 Uwe Fechner <u [dot] fechner [..] ...>
>>>>
>>>>> Hi,
>>>>>
>>>>> currently you need ROS to install the Ethercat drivers for OROCOS.
>>>>>
>>>>> This is how we installed it:
>>>>> http://www.kieltech.de/uweswiki/ROS
>>>>>
>>>>> It is possible that the KU Leuven people found a way to install the
>>>>> drivers without ROS (it was on their TODO list).
>>>>>
>>>>> We also have some additional drivers for the Ethercat modules:
>>>>> soem_el3068
>>>>> soem_el3112
>>>>> soem_el5152
>>>>>
>>>>> I can provide them if someone needs them.
>>>>>
>>>>
>>>> Do they satisfy the constraint of hard real-time? I thought ROS in
>>>> general was not taking it into account.
>>>>
>>>> Thanks
>>>>
>>>>
>>>>>
>>>>> Regards:
>>>>>
>>>>> Uwe Fechner, TU Delft
>>>>>
>>>>> On 29.05.2013 15:56, f [dot] hautbois [..] ... wrote:
>>>>>
>>>>>> I was looking for a way to use EtherCat with Orocos with Xenomai in
>>>>>> hard
>>>>>> real-time. I came across quite a lot of information (yet very sparse
>>>>>> and
>>>>>> unorganized, when not out of date). Then I found this brochure:
>>>>>>
>>>>>>
>>>>>>
>>>>>> It states that there is an EtherCat Orocos Component somewhere, that
>>>>>> I was
>>>>>> not able to find anywhere in the API documentation.
>>>>>>
>>>>>> I am not aware of any existing topic which thoroughly covers this
>>>>>> subject so
>>>>>> I hope this one could serve as a reference if needed.
>>>>>>
>>>>>> - How do I get this EtherCat Orocos Component?
>>>>>> - How to install it? What are the dependencies?
>>>>>> - Is there a specific card needed? Is there a specific way to set it
>>>>>> up or
>>>>>> plug it?
>>>>>> - Is there a specific documentation? Where to get it?
>>>>>>
>>>>>> Thank you,
>>>>>>
>>>>>> Flavian
>>>>>>
>>>>>
>>>>>
>>>>> --
>>>>> ----------------------------------------
>>>>> Uwe Fechner, M.Sc.
>>>>> Delft University of Technology
>>>>> Faculty of Aerospace Engineering/ASSET
>>>>> Kluyverweg 1,
>>>>> 2629 HS Delft, The Netherlands
>>>>> Phone: +31-15-27-88902
>>>>>
>>>>>
>>>>
>>>>
>>>> --
>>>> F. Hautbois
>>>>
>>>>
>>>>
>>>> --
>>>> ---------------------------------------------
>>>> Uwe Fechner, M.Sc.
>>>> Delft University of Technology
>>>> Faculty of Aerospace Engineering/ Wind Energy
>>>> Kluyverweg 1,
>>>> 2629 HS Delft, The Netherlands
>>>> Phone: +31-15-27-88902
>>>>
>>>>
>>>
>>>
>>> --
>>> F. Hautbois
>>>
>>> --
>>> Orocos-Users mailing list
>>> Orocos-Users [..] ...
>>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>>>
>>>
>>
>>
>> --
>> Ruben Smits, Phd
>> Chief Technology Officer
>> Intermodalics BVBA
>> +32479511786
>> www.intermodalics.eu
>>
>
>
>
> --
> F. Hautbois
>
EtherCat Orocos Component
Here are my installation steps:
- Install ROS fuerte using this page: http://ros.org/wiki/fuerte
- Install the ROS interface with Orocos using this one:
http://www.ros.org/wiki/orocos_toolchain_ros
- In /usr/src: git clone http://git.mech.kuleuven.be/robotics/soem.git
Boîte de réception<https://mail.google.com/mail/u/0/?ui=2&shva=1&zx=ty8ctee3o0zg#inbox>
- add usr/src/soem to the variable ROS_PACKAGE_PATH
- execute rosmake in usr/src/soem
Now I have some build errors for soem_beckhoff_drivers (which is the main
orocos component if I should believe the test.ops script file in
soem_master). Here is the stack trace:
[rosmake-0] Starting >>> soem_ebox [ make
]
[rosmake-3] Starting >>> soem_beckhoff_drivers [ make
]
[ rosmake ] Last 40 linesem_ebox: 9.5 sec ] [ soem_beckhoff_drivers: 9.5
s... [ 2 Active 19/21 Complete ]
{-------------------------------------------------------------------------------
compilation terminée.
In file included from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../rtt-config.h:17:0,
from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/TypekitPlugin.hpp:39,
from
/usr/src/SOEM/soem/soem_ebox/src/orocos/types/ros_EBOXAnalog_typekit_plugin.cpp:2:
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../os/targets/rtt-target.h:13:30:
erreur fatale: xenomai-config.h : Aucun fichier ou dossier de ce type
compilation terminée.
In file included from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../rtt-config.h:17:0,
from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/TypekitPlugin.hpp:39,
from
/usr/src/SOEM/soem/soem_ebox/src/orocos/types/ros_soem_ebox_typekit.cpp:6:
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../os/targets/rtt-target.h:13:30:
erreur fatale: xenomai-config.h : Aucun fichier ou dossier de ce type
compilation terminée.
In file included from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../base/../os/../rtt-config.h:17:0,
from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../base/../os/oro_arch.h:1,
from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../base/../os/Atomic.hpp:42,
from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../base/DataSourceBase.hpp:47,
from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/TypeTransporter.hpp:42,
from
/opt/ros/fuerte/stacks/rtt_ros_integration/rtt_rosnode/src/ros_msg_transporter.hpp:52,
from
/usr/src/SOEM/soem/soem_ebox/src/orocos/types/ros_soem_ebox_transport.cpp:7:
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../base/../os/../os/targets/rtt-target.h:13:30:
erreur fatale: xenomai-config.h : Aucun fichier ou dossier de ce type
compilation terminée.
make[3]: ***
[CMakeFiles/rtt-soem_ebox-ros-transport.dir/src/orocos/types/ros_soem_ebox_transport.cpp.o]
Erreur 1
make[3]: quittant le répertoire « /usr/src/SOEM/soem/soem_ebox/build »
make[2]: *** [CMakeFiles/rtt-soem_ebox-ros-transport.dir/all] Erreur 2
make[3]: ***
[CMakeFiles/rtt-soem_ebox-typekit.dir/src/orocos/types/ros_soem_ebox_typekit.cpp.o]
Erreur 1
make[3]: *** Attente des tâches non terminées....
make[3]: ***
[CMakeFiles/rtt-soem_ebox-typekit.dir/src/orocos/types/ros_EBOXAnalog_typekit_plugin.cpp.o]
Erreur 1
make[3]: ***
[CMakeFiles/rtt-soem_ebox-typekit.dir/src/orocos/types/ros_EBOXPWM_typekit_plugin.cpp.o]
Erreur 1
[ 95%] Building CXX object
CMakeFiles/rtt-soem_ebox-typekit.dir/src/orocos/types/ros_EBOXOut_typekit_plugin.cpp.o
In file included from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../rtt-config.h:17:0,
from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/TypekitPlugin.hpp:39,
from
/usr/src/SOEM/soem/soem_ebox/src/orocos/types/ros_EBOXOut_typekit_plugin.cpp:2:
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../os/targets/rtt-target.h:13:30:
erreur fatale: xenomai-config.h : Aucun fichier ou dossier de ce type
compilation terminée.
make[3]: ***
[CMakeFiles/rtt-soem_ebox-typekit.dir/src/orocos/types/ros_EBOXOut_typekit_plugin.cpp.o]
Erreur 1
make[3]: quittant le répertoire « /usr/src/SOEM/soem/soem_ebox/build »
make[2]: *** [CMakeFiles/rtt-soem_ebox-typekit.dir/all] Erreur 2
make[2]: quittant le répertoire « /usr/src/SOEM/soem/soem_ebox/build »
make[1]: *** [all] Erreur 2
make[1]: quittant le répertoire « /usr/src/SOEM/soem/soem_ebox/build »
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package soem_ebox written to:
[ rosmake ]
/home/alex/.ros/rosmake/rosmake_output-20130531-130944/soem_ebox/build_output.log
[rosmake-0] Finished <<< soem_ebox [FAIL] [ 9.58 seconds
]
[ rosmake ] Halting due to failure in package soem_ebox.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Last 40 lines
{-------------------------------------------------------------------------------
make[3]: quittant le répertoire «
/usr/src/SOEM/soem/soem_beckhoff_drivers/build »
make[2]: *** [CMakeFiles/soem_el2xxx.dir/all] Erreur 2
[ 64%] Building CXX object
CMakeFiles/rtt-soem_beckhoff_drivers-typekit.dir/src/orocos/types/ros_EncoderOutMsg_typekit_plugin.cpp.o
In file included from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../base/../os/../rtt-config.h:17:0,
from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../base/../os/oro_arch.h:1,
from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../base/../os/Atomic.hpp:42,
from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../base/DataSourceBase.hpp:47,
from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/TypeTransporter.hpp:42,
from
/opt/ros/fuerte/stacks/rtt_ros_integration/rtt_rosnode/src/ros_msg_transporter.hpp:52,
from
/usr/src/SOEM/soem/soem_beckhoff_drivers/src/orocos/types/ros_soem_beckhoff_drivers_transport.cpp:11:
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../base/../os/../os/targets/rtt-target.h:13:30:
erreur fatale: xenomai-config.h : Aucun fichier ou dossier de ce type
compilation terminée.
In file included from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../rtt-config.h:17:0,
from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/TypekitPlugin.hpp:39,
from
/usr/src/SOEM/soem/soem_beckhoff_drivers/src/orocos/types/ros_soem_beckhoff_drivers_typekit.cpp:10:
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../os/targets/rtt-target.h:13:30:
erreur fatale: xenomai-config.h : Aucun fichier ou dossier de ce type
compilation terminée.
In file included from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../rtt-config.h:17:0,
from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/TypekitPlugin.hpp:39,
from
/usr/src/SOEM/soem/soem_beckhoff_drivers/src/orocos/types/ros_PSUMsg_typekit_plugin.cpp:2:
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../os/targets/rtt-target.h:13:30:
erreur fatale: xenomai-config.h : Aucun fichier ou dossier de ce type
compilation terminée.
In file included from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../rtt-config.h:17:0,
from
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/TypekitPlugin.hpp:39,
from
/usr/src/SOEM/soem/soem_beckhoff_drivers/src/orocos/types/ros_EncoderOutMsg_typekit_plugin.cpp:2:
/opt/ros/fuerte/stacks/orocos_toolchain/log4cpp/../install/include/rtt/types/../os/targets/rtt-target.h:13:30:
erreur fatale: xenomai-config.h : Aucun fichier ou dossier de ce type
compilation terminée.
make[3]: ***
[CMakeFiles/rtt-soem_beckhoff_drivers-typekit.dir/src/orocos/types/ros_soem_beckhoff_drivers_typekit.cpp.o]
Erreur 1
make[3]: *** Attente des tâches non terminées....
make[3]: ***
[CMakeFiles/rtt-soem_beckhoff_drivers-typekit.dir/src/orocos/types/ros_EncoderOutMsg_typekit_plugin.cpp.o]
Erreur 1
make[3]: ***
[CMakeFiles/rtt-soem_beckhoff_drivers-ros-transport.dir/src/orocos/types/ros_soem_beckhoff_drivers_transport.cpp.o]
Erreur 1
make[3]: quittant le répertoire «
/usr/src/SOEM/soem/soem_beckhoff_drivers/build »
make[2]: *** [CMakeFiles/rtt-soem_beckhoff_drivers-ros-transport.dir/all]
Erreur 2
make[3]: ***
[CMakeFiles/rtt-soem_beckhoff_drivers-typekit.dir/src/orocos/types/ros_PSUMsg_typekit_plugin.cpp.o]
Erreur 1
make[3]: quittant le répertoire «
/usr/src/SOEM/soem/soem_beckhoff_drivers/build »
make[2]: *** [CMakeFiles/rtt-soem_beckhoff_drivers-typekit.dir/all]
Erreur 2
make[2]: quittant le répertoire «
/usr/src/SOEM/soem/soem_beckhoff_drivers/build »
make[1]: *** [all] Erreur 2
make[1]: quittant le répertoire «
/usr/src/SOEM/soem/soem_beckhoff_drivers/build »
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package soem_beckhoff_drivers written to:
[ rosmake ]
/home/alex/.ros/rosmake/rosmake_output-20130531-130944/soem_beckhoff_drivers/build_output.log
[rosmake-3] Finished <<< soem_beckhoff_drivers [FAIL] [ 9.57 seconds
]
[ rosmake ] Halting due to failure in package soem_beckhoff_drivers.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ]
Results:
[ rosmake ] Built 21 packages with 2
failures.
[ rosmake ] Summary output to
directory
[ rosmake ] /home/alex/.ros/rosmake/rosmake_output-20130531-130944
I'm sorry, it's mostly in French. In a nutshell I gathered that it couldn't
find a xeno-config.h file which actually does not exists at all (I tried
"locate xeno-config.h"). Any ideas?
2013/5/30 Ruben Smits <ruben [dot] smits [..] ...>
>
>
>
> On Thu, May 30, 2013 at 10:26 AM, Flavian Hautbois <f [dot] hautbois [..] ...>wrote:
>
>>
>>
>>
>> 2013/5/30 Ruben Smits <ruben [dot] smits [..] ...>
>>
>>> Hello Flavian,
>>>
>>>
>>> On Thu, May 30, 2013 at 9:06 AM, Flavian Hautbois <f [dot] hautbois [..] ...>wrote:
>>>
>>>> Thank you for the quick responses. A few additional questions:
>>>>
>>>> - How is the ethercat driver presented concretely? I gathered you need
>>>> to things: the right typekit (which is provided by ROS), and the right
>>>> driver (which would take advantage of the RTNET protocol).
>>>>
>>>
>>> There is a git repository (git.mech.kuleuven.be/robotics/soem.git)
>>> containing various ros packages:
>>>
>>> soem_core: A package that builds a download of the official soem package
>>> including a patch to work with RTNet (only used if RTNet is detected, only
>>> realtime in combination ) (only needs ROS for the buildsystem)
>>> soem_master: A package that contains an generic SoemMaster as an orocos
>>> component and a plugin system for Orocos based Ethercat slave drivers using
>>> the soem_core package (is realtime if build with Xenomai and soem_core with
>>> RTNet/Xenomai)(only needs ROS for the buildsystem)
>>> soem_beckhoff_drivers: A package containing several Orocos based
>>> Ethercat slave drivers for Beckhoff slaves to be used in conjunction with
>>> the above mentioned soem_master (only needs ROS for the buildsystem and
>>> .msg to .h file generation)
>>> soem_ebox: A package containing a driver for the EBox slave, a piece of
>>> hardware manufactured by SMF Ketels (http://www.smfk.nl)
>>>
>>> What's not in there and you would need to provide yourself: a Xenomai
>>> installation, an RTNet installation, a slave driver if none exists yet for
>>> your specific slave.
>>>
>>
>> That part was very clear, thank you.
>>
>>
>>>
>>>
>>>> - Is there any limitation on the hardware at all?
>>>>
>>>
>>> Especially on the RTNet side, RTNet has only a limited set of supported
>>> NICs, you should check www.rtnet.org/doc.html for more info
>>>
>>>
>>>> - You mention it requires a lot of patience, but I guess someone must
>>>> have done it before; I usually make a light documentation for tedious
>>>> tasks, maybe there's something similar existing somwhere?
>>>>
>>>
>>> Finding the right combination of Linux kernel version, Xenomai version,
>>> RTNet version and Orocos Toolchain version is the biggest challenge IMO.
>>>
>>> There are at least one combinations that will definitely not work (see
>>> the mailinglist) that I know of: Soem with Xenomai > 2.5.6 .
>>>
>>
>> Well that's a big problem: I'm running Xenomai 2.6.2.1. However I just
>> found a topic on the mailing-list where someone got it running on Xenomai
>> 2.6.0
>> <
>> http://www.orocos.org/forum/orocos/orocos-users/cpu-time-limit-exceeded-...
>> >
>>
>>
>
> In this case I would give it a try with Xenomai 2.6.2 ;)
>
> Ruben
>
>
>>
>>> Ruben
>>>
>>>
>>>> Regards
>>>>
>>>>
>>>> 2013/5/29 Uwe Fechner <u [dot] fechner [..] ...>
>>>>
>>>>> There is no need to use the ROS messages, but without having ROS
>>>>> installed
>>>>> the drivers do not compile.
>>>>>
>>>>> To get hard real-time you need:
>>>>> - OROCOS
>>>>> - Xenomai
>>>>> - RTNET (http://www.rtnet.org/)
>>>>>
>>>>> and a lot of patience to make everything work.
>>>>>
>>>>> Regards:
>>>>>
>>>>> Uwe
>>>>>
>>>>> Am 29.05.2013 16:21, schrieb Flavian Hautbois:
>>>>>
>>>>>
>>>>>
>>>>>
>>>>> 2013/5/29 Uwe Fechner <u [dot] fechner [..] ...>
>>>>>
>>>>>> Hi,
>>>>>>
>>>>>> currently you need ROS to install the Ethercat drivers for OROCOS.
>>>>>>
>>>>>> This is how we installed it:
>>>>>> http://www.kieltech.de/uweswiki/ROS
>>>>>>
>>>>>> It is possible that the KU Leuven people found a way to install the
>>>>>> drivers without ROS (it was on their TODO list).
>>>>>>
>>>>>> We also have some additional drivers for the Ethercat modules:
>>>>>> soem_el3068
>>>>>> soem_el3112
>>>>>> soem_el5152
>>>>>>
>>>>>> I can provide them if someone needs them.
>>>>>>
>>>>>
>>>>> Do they satisfy the constraint of hard real-time? I thought ROS in
>>>>> general was not taking it into account.
>>>>>
>>>>> Thanks
>>>>>
>>>>>
>>>>>>
>>>>>> Regards:
>>>>>>
>>>>>> Uwe Fechner, TU Delft
>>>>>>
>>>>>> On 29.05.2013 15:56, f [dot] hautbois [..] ... wrote:
>>>>>>
>>>>>>> I was looking for a way to use EtherCat with Orocos with Xenomai in
>>>>>>> hard
>>>>>>> real-time. I came across quite a lot of information (yet very sparse
>>>>>>> and
>>>>>>> unorganized, when not out of date). Then I found this brochure:
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>> It states that there is an EtherCat Orocos Component somewhere, that
>>>>>>> I was
>>>>>>> not able to find anywhere in the API documentation.
>>>>>>>
>>>>>>> I am not aware of any existing topic which thoroughly covers this
>>>>>>> subject so
>>>>>>> I hope this one could serve as a reference if needed.
>>>>>>>
>>>>>>> - How do I get this EtherCat Orocos Component?
>>>>>>> - How to install it? What are the dependencies?
>>>>>>> - Is there a specific card needed? Is there a specific way to set it
>>>>>>> up or
>>>>>>> plug it?
>>>>>>> - Is there a specific documentation? Where to get it?
>>>>>>>
>>>>>>> Thank you,
>>>>>>>
>>>>>>> Flavian
>>>>>>>
>>>>>>
>>>>>>
>>>>>> --
>>>>>> ----------------------------------------
>>>>>> Uwe Fechner, M.Sc.
>>>>>> Delft University of Technology
>>>>>> Faculty of Aerospace Engineering/ASSET
>>>>>> Kluyverweg 1,
>>>>>> 2629 HS Delft, The Netherlands
>>>>>> Phone: +31-15-27-88902
>>>>>>
>>>>>>
>>>>>
>>>>>
>>>>> --
>>>>> F. Hautbois
>>>>>
>>>>>
>>>>>
>>>>> --
>>>>> ---------------------------------------------
>>>>> Uwe Fechner, M.Sc.
>>>>> Delft University of Technology
>>>>> Faculty of Aerospace Engineering/ Wind Energy
>>>>> Kluyverweg 1,
>>>>> 2629 HS Delft, The Netherlands
>>>>> Phone: +31-15-27-88902
>>>>>
>>>>>
>>>>
>>>>
>>>> --
>>>> F. Hautbois
>>>>
>>>> --
>>>> Orocos-Users mailing list
>>>> Orocos-Users [..] ...
>>>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>>>>
>>>>
>>>
>>>
>>> --
>>> Ruben Smits, Phd
>>> Chief Technology Officer
>>> Intermodalics BVBA
>>> +32479511786
>>> www.intermodalics.eu
>>>
>>
>>
>>
>> --
>> F. Hautbois
>>
>
>
>
> --
> Ruben Smits, Phd
> Chief Technology Officer
> Intermodalics BVBA
> +32479511786
> www.intermodalics.eu
>
EtherCat Orocos Component
I am still trying to build the soem package available at <
git.mech.kuleuven.be/robotics/soem.git>
>From the structure of the files inside this package (there is a stack.xlm),
I gathered that I should use a ROS version preceding ROS Groovy (which got
rid of stacks). Because ROS Electric is not available for my Ubuntu
(12.0.4) I opted for ROS Fuerte.
I installed the full desktop version <http://ros.org/wiki/fuerte>.
Now I had installed the Orocos Toolchain for ROS available here <
http://www.ros.org/wiki/orocos_toolchain_ros> but this was _wrong_, as this
toolchain is not available for Xenomai (hence the previous xeno-config.h
missing file!).
I found a post from Peter <
http://www.orocos.org/forum/orocos/orocos-users/xenomai-ros-and-orocos#c...
explaining how to install the rtt-ros-integration and followed exactly his
instructions. However when I run rosmake in my soem directory, it says
"cannot find required resource: orocos_toolchain".
Here is my ROS_PACKAGE_PATH variable content: /opt/ros/fuerte/share :
/opt/ros/fuerte/stack : /opt/ros/fuerte/share/ros :
/home/alex/orocos/rtt_ros_integration : /home/alex/orocos/soem :
/home/alex/orocos/orocos-toolchain.
Meanwhile I tried the procedure on section 3 of this link <
http://www.ros.org/wiki/rtt_ros_integration> (don't forget to click on the
Fuerte tag). The sub-procesure of paragraph 3.1 works for me (after adding
the right path to ROS_PACKAGE_PATH). However the line "import("rtt_rosnode")"
didn't work for me. import("my_component_pkg")and
loadComponent("YourComponentName","My_component_pkg")were working fine
though. I am trying to infer what was wrong with the dependency of the soem
package. The my_component_pkg uses the <depend package="rtt"> dependency,
while the soem uses <depend stack="orocos-toolchain">. So I guess
orocos-toolchain is supposed to be the stack (but there is no stack.xml
file in it) which opens the package rtt. Do you have a relevant fix for
that?
Thank you
FH
EtherCat Orocos Component
By the way, I forgot to mention that this page is down: <
http://ros.org/wiki/soem>
2013/6/3 Flavian Hautbois <f [dot] hautbois [..] ...>
> I am still trying to build the soem package available at <
> git.mech.kuleuven.be/robotics/soem.git>
> From the structure of the files inside this package (there is a
> stack.xlm), I gathered that I should use a ROS version preceding ROS Groovy
> (which got rid of stacks). Because ROS Electric is not available for my
> Ubuntu (12.0.4) I opted for ROS Fuerte.
> I installed the full desktop version <http://ros.org/wiki/fuerte>.
>
> Now I had installed the Orocos Toolchain for ROS available here <
> http://www.ros.org/wiki/orocos_toolchain_ros> but this was _wrong_, as
> this toolchain is not available for Xenomai (hence the previous
> xeno-config.h missing file!).
>
> I found a post from Peter <
> http://www.orocos.org/forum/orocos/orocos-users/xenomai-ros-and-orocos#c...
> explaining how to install the rtt-ros-integration and followed exactly his
> instructions. However when I run rosmake in my soem directory, it says
> "cannot find required resource: orocos_toolchain".
>
> Here is my ROS_PACKAGE_PATH variable content: /opt/ros/fuerte/share :
> /opt/ros/fuerte/stack : /opt/ros/fuerte/share/ros :
> /home/alex/orocos/rtt_ros_integration : /home/alex/orocos/soem :
> /home/alex/orocos/orocos-toolchain.
>
> Meanwhile I tried the procedure on section 3 of this link <
> http://www.ros.org/wiki/rtt_ros_integration> (don't forget to click on
> the Fuerte tag). The sub-procesure of paragraph 3.1 works for me (after
> adding the right path to ROS_PACKAGE_PATH). However the line "
> import("rtt_rosnode")" didn't work for me. import("my_component_pkg")and
> loadComponent("YourComponentName","My_component_pkg")were working fine
> though. I am trying to infer what was wrong with the dependency of the soem
> package. The my_component_pkg uses the <depend package="rtt"> dependency,
> while the soem uses <depend stack="orocos-toolchain">. So I guess
> orocos-toolchain is supposed to be the stack (but there is no stack.xml
> file in it) which opens the package rtt. Do you have a relevant fix for
> that?
>
> Thank you
>
> FH
>
EtherCat Orocos Component
We are building the soem component without ROS or CMake, as we do with
the rest of our flight control codes. I had to resort to ugly hacks,
though, so my hacked up soem component will never be mainlined.
On Thu, May 30, 2013 at 11:52 AM, Ruben Smits
<ruben [dot] smits [..] ...> wrote:
>
>
>
> On Thu, May 30, 2013 at 10:26 AM, Flavian Hautbois <f [dot] hautbois [..] ...>
> wrote:
>>
>>
>>
>>
>> 2013/5/30 Ruben Smits <ruben [dot] smits [..] ...>
>>>
>>> Hello Flavian,
>>>
>>>
>>> On Thu, May 30, 2013 at 9:06 AM, Flavian Hautbois <f [dot] hautbois [..] ...>
>>> wrote:
>>>>
>>>> Thank you for the quick responses. A few additional questions:
>>>>
>>>> - How is the ethercat driver presented concretely? I gathered you need
>>>> to things: the right typekit (which is provided by ROS), and the right
>>>> driver (which would take advantage of the RTNET protocol).
>>>
>>>
>>> There is a git repository (git.mech.kuleuven.be/robotics/soem.git)
>>> containing various ros packages:
>>>
>>> soem_core: A package that builds a download of the official soem package
>>> including a patch to work with RTNet (only used if RTNet is detected, only
>>> realtime in combination ) (only needs ROS for the buildsystem)
>>> soem_master: A package that contains an generic SoemMaster as an orocos
>>> component and a plugin system for Orocos based Ethercat slave drivers using
>>> the soem_core package (is realtime if build with Xenomai and soem_core with
>>> RTNet/Xenomai)(only needs ROS for the buildsystem)
>>> soem_beckhoff_drivers: A package containing several Orocos based Ethercat
>>> slave drivers for Beckhoff slaves to be used in conjunction with the above
>>> mentioned soem_master (only needs ROS for the buildsystem and .msg to .h
>>> file generation)
>>> soem_ebox: A package containing a driver for the EBox slave, a piece of
>>> hardware manufactured by SMF Ketels (http://www.smfk.nl)
>>>
>>> What's not in there and you would need to provide yourself: a Xenomai
>>> installation, an RTNet installation, a slave driver if none exists yet for
>>> your specific slave.
>>
>>
>> That part was very clear, thank you.
>>
>>>
>>>
>>>>
>>>> - Is there any limitation on the hardware at all?
>>>
>>>
>>> Especially on the RTNet side, RTNet has only a limited set of supported
>>> NICs, you should check www.rtnet.org/doc.html for more info
>>>
>>>>
>>>> - You mention it requires a lot of patience, but I guess someone must
>>>> have done it before; I usually make a light documentation for tedious tasks,
>>>> maybe there's something similar existing somwhere?
>>>
>>>
>>> Finding the right combination of Linux kernel version, Xenomai version,
>>> RTNet version and Orocos Toolchain version is the biggest challenge IMO.
>>>
>>> There are at least one combinations that will definitely not work (see
>>> the mailinglist) that I know of: Soem with Xenomai > 2.5.6 .
>>
>>
>> Well that's a big problem: I'm running Xenomai 2.6.2.1. However I just
>> found a topic on the mailing-list where someone got it running on Xenomai
>> 2.6.0
>>
>> <http://www.orocos.org/forum/orocos/orocos-users/cpu-time-limit-exceeded-soem-maste-component-xenomai-rtnet>
>>
>
>
> In this case I would give it a try with Xenomai 2.6.2 ;)
>
> Ruben
>
>>>
>>>
>>> Ruben
>>>
>>>>
>>>> Regards
>>>>
>>>>
>>>> 2013/5/29 Uwe Fechner <u [dot] fechner [..] ...>
>>>>>
>>>>> There is no need to use the ROS messages, but without having ROS
>>>>> installed
>>>>> the drivers do not compile.
>>>>>
>>>>> To get hard real-time you need:
>>>>> - OROCOS
>>>>> - Xenomai
>>>>> - RTNET (http://www.rtnet.org/)
>>>>>
>>>>> and a lot of patience to make everything work.
>>>>>
>>>>> Regards:
>>>>>
>>>>> Uwe
>>>>>
>>>>> Am 29.05.2013 16:21, schrieb Flavian Hautbois:
>>>>>
>>>>>
>>>>>
>>>>>
>>>>> 2013/5/29 Uwe Fechner <u [dot] fechner [..] ...>
>>>>>>
>>>>>> Hi,
>>>>>>
>>>>>> currently you need ROS to install the Ethercat drivers for OROCOS.
>>>>>>
>>>>>> This is how we installed it:
>>>>>> http://www.kieltech.de/uweswiki/ROS
>>>>>>
>>>>>> It is possible that the KU Leuven people found a way to install the
>>>>>> drivers without ROS (it was on their TODO list).
>>>>>>
>>>>>> We also have some additional drivers for the Ethercat modules:
>>>>>> soem_el3068
>>>>>> soem_el3112
>>>>>> soem_el5152
>>>>>>
>>>>>> I can provide them if someone needs them.
>>>>>
>>>>>
>>>>> Do they satisfy the constraint of hard real-time? I thought ROS in
>>>>> general was not taking it into account.
>>>>>
>>>>> Thanks
>>>>>
>>>>>>
>>>>>>
>>>>>> Regards:
>>>>>>
>>>>>> Uwe Fechner, TU Delft
>>>>>>
>>>>>> On 29.05.2013 15:56, f [dot] hautbois [..] ... wrote:
>>>>>>>
>>>>>>> I was looking for a way to use EtherCat with Orocos with Xenomai in
>>>>>>> hard
>>>>>>> real-time. I came across quite a lot of information (yet very sparse
>>>>>>> and
>>>>>>> unorganized, when not out of date). Then I found this brochure:
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>> It states that there is an EtherCat Orocos Component somewhere, that
>>>>>>> I was
>>>>>>> not able to find anywhere in the API documentation.
>>>>>>>
>>>>>>> I am not aware of any existing topic which thoroughly covers this
>>>>>>> subject so
>>>>>>> I hope this one could serve as a reference if needed.
>>>>>>>
>>>>>>> - How do I get this EtherCat Orocos Component?
>>>>>>> - How to install it? What are the dependencies?
>>>>>>> - Is there a specific card needed? Is there a specific way to set it
>>>>>>> up or
>>>>>>> plug it?
>>>>>>> - Is there a specific documentation? Where to get it?
>>>>>>>
>>>>>>> Thank you,
>>>>>>>
>>>>>>> Flavian
>>>>>>
>>>>>>
>>>>>>
>>>>>> --
>>>>>> ----------------------------------------
>>>>>> Uwe Fechner, M.Sc.
>>>>>> Delft University of Technology
>>>>>> Faculty of Aerospace Engineering/ASSET
>>>>>> Kluyverweg 1,
>>>>>> 2629 HS Delft, The Netherlands
>>>>>> Phone: +31-15-27-88902
>>>>>>
>>>>>
>>>>>
>>>>>
>>>>> --
>>>>> F. Hautbois
>>>>>
>>>>>
>>>>>
>>>>> --
>>>>> ---------------------------------------------
>>>>> Uwe Fechner, M.Sc.
>>>>> Delft University of Technology
>>>>> Faculty of Aerospace Engineering/ Wind Energy
>>>>> Kluyverweg 1,
>>>>> 2629 HS Delft, The Netherlands
>>>>> Phone: +31-15-27-88902
>>>>
>>>>
>>>>
>>>>
>>>> --
>>>> F. Hautbois
>>>>
>>>> --
>>>> Orocos-Users mailing list
>>>> Orocos-Users [..] ...
>>>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>>>>
>>>
>>>
>>>
>>> --
>>> Ruben Smits, Phd
>>> Chief Technology Officer
>>> Intermodalics BVBA
>>> +32479511786
>>> www.intermodalics.eu
>>
>>
>>
>>
>> --
>> F. Hautbois
>
>
>
>
> --
> Ruben Smits, Phd
> Chief Technology Officer
> Intermodalics BVBA
> +32479511786
> www.intermodalics.eu
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
EtherCat Orocos Component
Hi,
Il giorno 29/mag/2013 16:21, "Flavian Hautbois" <f [dot] hautbois [..] ...> ha
scritto:
>
>
>
>
> 2013/5/29 Uwe Fechner <u [dot] fechner [..] ...>
>>
>> Hi,
>>
>> currently you need ROS to install the Ethercat drivers for OROCOS.
>>
>> This is how we installed it:
>> http://www.kieltech.de/uweswiki/ROS
>>
>> It is possible that the KU Leuven people found a way to install the
>> drivers without ROS (it was on their TODO list).
>>
>> We also have some additional drivers for the Ethercat modules:
>> soem_el3068
>> soem_el3112
>> soem_el5152
>>
>> I can provide them if someone needs them.
>
>
> Do they satisfy the constraint of hard real-time? I thought ROS in
general was not taking it into account.
ROS is just used as build system and to generate ROS messages (and then
typekit for Orocos) as datatype to exchange informations from/to the orocos
ethercat "driver" component...
.. Nothing to do with real-time capabilities...
- Enea
> Thanks
>
>>
>>
>> Regards:
>>
>> Uwe Fechner, TU Delft
>>
>>
>> On 29.05.2013 15:56, f [dot] hautbois [..] ... wrote:
>>>
>>> I was looking for a way to use EtherCat with Orocos with Xenomai in hard
>>> real-time. I came across quite a lot of information (yet very sparse and
>>> unorganized, when not out of date). Then I found this brochure:
>>>
>>>
>>>
>>> It states that there is an EtherCat Orocos Component somewhere, that I
was
>>> not able to find anywhere in the API documentation.
>>>
>>> I am not aware of any existing topic which thoroughly covers this
subject so
>>> I hope this one could serve as a reference if needed.
>>>
>>> - How do I get this EtherCat Orocos Component?
>>> - How to install it? What are the dependencies?
>>> - Is there a specific card needed? Is there a specific way to set it up
or
>>> plug it?
>>> - Is there a specific documentation? Where to get it?
>>>
>>> Thank you,
>>>
>>> Flavian
>>
>>
>>
>> --
>> ----------------------------------------
>> Uwe Fechner, M.Sc.
>> Delft University of Technology
>> Faculty of Aerospace Engineering/ASSET
>> Kluyverweg 1,
>> 2629 HS Delft, The Netherlands
>> Phone: +31-15-27-88902
>>
>
>
>
> --
> F. Hautbois
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>