ROS hardware interface EtherCAT implementation on the omniwheel robot Bumpybot. This package uses SOEM along with ros_control and has been inspired by other great references, such as ros_ethercat, the diffbot_hw_interface, the ethercat_interface, and PikNikRobitics' ros control boilerplate.
This has been only tested in ROS Melodic. I hope others find it useful in their own projects using ROS and SOEM.
If you are interested in the platform using this code, or find this useful and would like to cite our work, please consider citing:
@proceedings{bumpybot,
author = {Gonzalez, Carlos and Lee, Samantha and Montano, Francisco and Ortega, Steven and Kang, Dong Ho and Jaiswal, Mehar and Jiao, Junfeng and Sentis, Luis},
title = {Design of a Person-Carrying Robot for Contact Compliant Navigation},
series = {International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
year = {2023},
month = {08}
}