sr_robot_lib contains the robot library used in the sr_edc_ethercat_drivers. The library is used to store the incoming etherCAT messages in an easy to access format, and prepare the messages to be send through etherCAT.
- Author: Ugo Cupcic / firstname.lastname@example.org , email@example.com
- License: GPL
- Source: bzr lp:sr-ros-interface-ethercat/fuerte
The sr_robot_lib package is where the incoming etherCAT packets are interpreted and stored in the correct structured to be made available for the controllers.
This package also contains a class which builds the etherCAT command we want to send to the hand, based on the configuration file motor_data_polling.yaml, the data is updated at different rates.
The config folder contains most of the configuration for the hand driver (except the controller configuration):
joint_to_motor_mapping.yaml is where the mapping from a given joint to a motor index is defined.
motor_data_polling.yaml contains the different update rates.
sensor_to_joint.yaml contains the mapping between the joints and the sensors: for example FFJ0 is the sum of FFJ1 and FFJ2, while THJ5, which is a compound sensor is the sum of THJ5a+THJ5b.