AFAIR Bert Willaert is the author and he is stated in the license comments
on the top of most of the code.

R.

On Thu, Jun 4, 2015 at 9:39 AM, Wilson Ko <w [dot] k [dot] h [dot] ko91 [..] ...> wrote:

> Ah right, I applied your corrections, thanks for pointing out! About the
> author, I don't know who the author is, so I just left that open. If you
> don't mind, could you add that one yourself? You probably know who to give
> credits to better than I do.
>
> I just found another (very recent) package for ethercat control on
> robotiq_grippers, so I'm thinking of giving that one a try as well. If I
> end up using rtt_soem after all I will add the bindings between ports and
> ros topics/services and update you again. Thanks again for your help!
>
> Wilson
>
> On Thu, 4 Jun 2015 at 15:12 Ruben Smits <ruben [dot] smits [..] ...>
> wrote:
>
>> On Thu, Jun 4, 2015 at 5:17 AM, Wilson Ko <w [dot] k [dot] h [dot] ko91 [..] ...> wrote:
>>
>>> Hi,
>>>
>>> I managed to make it compile with catkin and it works, thanks! I created
>>> a pull request so you can merge it if you think it's useful.
>>>
>>
>> I took a pass on the pull request, looks good, but I had some small
>> comments. We might want to do a full review of the original code once in
>> the future ;)
>>
>>
>>>
>>> About the package name and location, I named it soem_robotiq_drivers for
>>> now as the code assumes that's the package name rather than
>>> rtt_soem_robotiq. Also, that name is more consistent with the
>>> soem_beckhoff_drivers package name. I put this package in the rtt_soem
>>> stack (next to the soem_beckhoff_driver package) as that location makes the
>>> most sense, so if you think it's useful you could put it there as well. Another
>>> option is to make a generic package that contains both the
>>> soem_robotiq_drivers and soem_beckhoff_drivers, to remove redundancies such
>>> as the duplicated COE_config.h file, but then there's the danger of getting
>>> a huge package where al drivers are mashed together if future drivers are
>>> to be added.. Maybe there's another possibility where COE_config.h is moved
>>> to a generic package that is accessible for all driver packages that need
>>> it. Anyways, these are just suggestions and I don't know what would be
>>> best in this case but that's up to you :)
>>>
>>
>> There are indeed pro's and con's for each approach, I don't know myself
>> either what would be best. Regarding the COE_config.h you are right, if
>> more package have it/need it, it should be moved to something like the
>> soem_master package.
>>
>>
>>
>>> My next step would be to create ros topics or services so that I can
>>> send commands to the gripper from ROS, something which is not possibe yet I
>>> believe (or at least, I didn't find out about that part yet). I will let
>>> you know if I get something new, thanks again for your help!
>>>
>>
>> You could take a look at rtt_ros_integration on how you could create
>> services for the existing operations and topics for the existing ports:
>> https://github.com/orocos/rtt_ros_integration/tree/indigo-devel/rtt_roscomm
>>
>> R.
>>
>>
>>>
>>> Wilson
>>>
>>> On Wed, 3 Jun 2015 at 18:17 Wilson Ko <w [dot] k [dot] h [dot] ko91 [..] ...> wrote:
>>>
>>>> Alright thanks! Definitely helpful. I will give it a try and let you
>>>> know :)
>>>>
>>>>
>>>> On Wed, 3 Jun 2015 at 17:39 Ruben Smits <ruben [dot] smits [..] ...>
>>>> wrote:
>>>>
>>>>> We've located some old code that could serve as a good starting point,
>>>>> it's known to be working but is still using the old rosbuild, so I invite
>>>>> you to update it to the newer catkin system and orocos macros ;)
>>>>>
>>>>> I've pushed it here: https://github.com/orocos/rtt_soem_robotiq
>>>>>
>>>>> R.
>>>>>
>>>>> On Wed, Jun 3, 2015 at 10:34 AM, Wilson Ko <w [dot] k [dot] h [dot] ko91 [..] ...>
>>>>> wrote:
>>>>>
>>>>>> I see, then I will try to do that. Thanks for your help!
>>>>>>
>>>>>> On Wed, 3 Jun 2015 at 16:08 Ruben Smits <ruben [dot] smits [..] ...>
>>>>>> wrote:
>>>>>>
>>>>>>> On Wed, Jun 3, 2015 at 9:11 AM, Wilson Ko <w [dot] k [dot] h [dot] ko91 [..] ...>
>>>>>>> wrote:
>>>>>>>
>>>>>>>> Hi Ruben,
>>>>>>>>
>>>>>>>> Thanks for your fast reply. I use ROS indigo and installed version
>>>>>>>> 2.7 of the orocos_toolchain from source (
>>>>>>>> http://wiki.ros.org/orocos_toolchain_ros). I was not aware of the
>>>>>>>> documentation you provided, it helped me getting a bit further, thanks! As
>>>>>>>> I suspected, an import was missing in the test.ops file which is the import
>>>>>>>> from rtt_roscomm. Now the error is fixed, but now I get the following
>>>>>>>> errors:
>>>>>>>>
>>>>>>>> 0.201 [ Warning][Master] Could not create driver for netX
>>>>>>>> 0.240 [ ERROR ][ScriptingService] No such service: 'Slave_1002'
>>>>>>>> while looking for port 'Master.Slave_1002.bits'
>>>>>>>> 0.240 [ ERROR ][ScriptingService] No such service: 'Slave_1003'
>>>>>>>> while looking for port 'Master.Slave_1003.bits'
>>>>>>>> Switched to : Deployer
>>>>>>>>
>>>>>>>>
>>>>>>> These services are automatically added when you configure the
>>>>>>> master, it will go over the attached modules and check if it has a driver
>>>>>>> registered for it, if so it will automatically create a service with the
>>>>>>> name Slave_xxxx, with xxxx the EtherCAT slave nr for your setup.
>>>>>>>
>>>>>>> We currently only provide drivers for some of the standard Beckhoff
>>>>>>> modules, so if you want to use it to support a Robotiq hand you will need
>>>>>>> to add a driver yourself for it. You can look into
>>>>>>> https://github.com/orocos/rtt_soem/tree/master/soem_beckhoff_drivers/src
>>>>>>> for examples on how to do that.
>>>>>>>
>>>>>>> R.
>>>>>>>
>>>>>>>
>>>>>>>> I suspect that I need to add these services in the C++ code in
>>>>>>>> soem_master, is that correct? Please correct me if I am wrong as I am new
>>>>>>>> to Orocos. I'm not too sure about the warning though and what to do about
>>>>>>>> it.
>>>>>>>>
>>>>>>>> Best,
>>>>>>>> Wilson
>>>>>>>>
>>>>>>>> On Wed, 3 Jun 2015 at 14:53 Ruben Smits <
>>>>>>>> ruben [dot] smits [..] ...> wrote:
>>>>>>>>
>>>>>>>>>
>>>>>>>>>
>>>>>>>>> On Wed, Jun 3, 2015 at 8:39 AM, <w [dot] k [dot] h [dot] ko91 [..] ...> wrote:
>>>>>>>>>
>>>>>>>>>> Hi,
>>>>>>>>>>
>>>>>>>>>> I followed the instructions posted here
>>>>>>>>>>
>>>>>>>>>> http://wiki.ros.org/Industrial/Tutorials/Simple_EtherCAT_Network_IO
>>>>>>>>>> to set up
>>>>>>>>>> an Ethercat connection. Some links seem to be a outdated, but most
>>>>>>>>>> instructions are still relevant and worked for me. I was able to
>>>>>>>>>> install
>>>>>>>>>> Orocos and establish a connection with a Robotiq gripper, but I
>>>>>>>>>> was not able
>>>>>>>>>> to create Ros topics, which should be done by the last two lines
>>>>>>>>>> in test.ops
>>>>>>>>>> provided in these notes:
>>>>>>>>>>
>>>>>>>>>> # This command remaps OROCOS topics to ROS topics
>>>>>>>>>> stream("Master.Slave_1002.bits", ros.topic("DI"))
>>>>>>>>>> stream("Master.Slave_1003.bits", ros.topic("DO"))
>>>>>>>>>>
>>>>>>>>>> The error I get from this is "Parse error at line 25: Service or
>>>>>>>>>> Task
>>>>>>>>>> "Deployer" has no Peer or Service ros (or Deployer was not found
>>>>>>>>>> at all)"
>>>>>>>>>> (line 25 is the first of the above two lines and the script works
>>>>>>>>>> fine for
>>>>>>>>>> the rest when I comment these lines out).
>>>>>>>>>> I suspect that some imports and the parts relevant for
>>>>>>>>>> integrating Orocos/Ros
>>>>>>>>>> are missing (perhaps a package from the from rtt_ros_integration
>>>>>>>>>> stack?), but
>>>>>>>>>> as I am new to Orocos and thus the connection Orocos/Ros, I don't
>>>>>>>>>> know
>>>>>>>>>> exactly how I should fix this.
>>>>>>>>>>
>>>>>>>>>> My question is, how do I remap Orocos topics to Ros topics for
>>>>>>>>>> this
>>>>>>>>>> particular case? I already downloaded the rtt_ros_integration
>>>>>>>>>> stack which
>>>>>>>>>> compiles fine. However, if I look in the source code of
>>>>>>>>>> soem_master I don't
>>>>>>>>>> see much usage of the rtt_ros_integration packages, which is what
>>>>>>>>>> I believe
>>>>>>>>>> needed to connect Orocos to Ros. Is something missing here to
>>>>>>>>>> integrate
>>>>>>>>>> Orocos with Ros? Also, I'm not sure whether the following could
>>>>>>>>>> have caused
>>>>>>>>>> some problems:
>>>>>>>>>>
>>>>>>>>>>
>>>>>>>>> This should still be working, but, which versions of ROS and
>>>>>>>>> Orocos are you using? Did you follow the documentation on
>>>>>>>>> https://github.com/orocos/rtt_ros_integration/tree/indigo-devel/rtt_roscomm
>>>>>>>>> ?
>>>>>>>>>
>>>>>>>>> R.
>>>>>>>>>
>>>>>>>>>
>>>>>>>>>> - Instead of using the link
>>>>>>>>>> http://www.ros.org/wiki/orocos_toolchain_ros, I
>>>>>>>>>> followed the instructions at http://wiki.ros.org/orocos_toolchain
>>>>>>>>>> to build
>>>>>>>>>> orocos.
>>>>>>>>>>
>>>>>>>>>> - http://git.mech.kuleuven.be/robotics/soem.git is offline, I
>>>>>>>>>> believe that it
>>>>>>>>>> moved to here: https://github.com/orocos/rtt_soem. I got all the
>>>>>>>>>> code for
>>>>>>>>>> Soem from here.
>>>>>>>>>>
>>>>>>>>>> For now I will try to find out more about Orocos and the
>>>>>>>>>> rtt_ros_integration_stack to fix this, but the documentation I
>>>>>>>>>> found so far
>>>>>>>>>> is scarce. Also, if you know of alternatives for controlling a
>>>>>>>>>> Robotiq
>>>>>>>>>> Gripper through Ethercat in Ros I also consider that as a
>>>>>>>>>> solution. I believe
>>>>>>>>>> that Ros-I only supports the TCP/Modbus and RTU/Modbus versions
>>>>>>>>>> at the
>>>>>>>>>> moment. Please let me know what you think, thanks in advance.
>>>>>>>>>>
>>>>>>>>>> Best,
>>>>>>>>>> Wilson Ko
>>>>>>>>>> --
>>>>>>>>>> Orocos-Users mailing list
>>>>>>>>>> Orocos-Users [..] ...
>>>>>>>>>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>>>>>>>>>>
>>>>>>>>>
>>>>>>>>>
>>>>>>>>>
>>>>>>>>> --
>>>>>>>>> Ruben Smits, Roboticist - Founder
>>>>>>>>> +32 479 511 786
>>>>>>>>> Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
>>>>>>>>> www.intermodalics.eu
>>>>>>>>>
>>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>> --
>>>>>>> Ruben Smits, Roboticist - Founder
>>>>>>> +32 479 511 786
>>>>>>> Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
>>>>>>> www.intermodalics.eu
>>>>>>>
>>>>>>
>>>>>
>>>>>
>>>>> --
>>>>> Ruben Smits, Roboticist - Founder
>>>>> +32 479 511 786
>>>>> Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
>>>>> www.intermodalics.eu
>>>>>
>>>>
>>
>>
>> --
>> Ruben Smits, Roboticist - Founder
>> +32 479 511 786
>> Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
>> www.intermodalics.eu
>>
>