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setup.yaml
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ethercat_master:
time_step: 0.002 # in seconds
update_rate_too_low_warn_threshold: 50 # in Hz
ros_namespace: ethercat_master
ethercat_devices:
# - type: Nanotec # Registration Name of the device SDK
# name: Nanotec_Motor_1 # Name of the device, should be unique for each device. Used for ROS topics.
# configuration_file: device_configurations/nanotec.yaml # Path to the configuration file for the device
# ethercat_bus: enx24f5a2f237ee # eth0 usually
# ethercat_address: 1 # Address of the device on the bus, should be unique for each device
# thread_frequency: 100 # in Hz
# initial_mode_of_operation: 8 # Check mode maps in the SDK docs or device .cpp file
# - type: Nanotec
# name: Nanotec_Motor_2
# configuration_file: device_configurations/nanotec.yaml
# ethercat_bus: eth0
# ethercat_address: 2
# thread_frequency: 100
# initial_mode_of_operation: 8
- type: Maxon
name: Maxon_Motor_1
configuration_file: device_configurations/maxon.yaml
ethercat_bus: enx0c3796b6915e
ethercat_address: 1
thread_frequency: 100
initial_mode_of_operation: 8
- type: Maxon
name: Maxon_Motor_2
configuration_file: device_configurations/maxon.yaml
ethercat_bus: enx0c3796b6915e
ethercat_address: 2
thread_frequency: 100
initial_mode_of_operation: 8
- type: Maxon
name: Maxon_Motor_3
configuration_file: device_configurations/maxon.yaml
ethercat_bus: enx0c3796b6915e
ethercat_address: 3
thread_frequency: 100
initial_mode_of_operation: 8
- type: Maxon
name: Maxon_Motor_4
configuration_file: device_configurations/maxon.yaml
ethercat_bus: enx0c3796b6915e
ethercat_address: 4
thread_frequency: 100
initial_mode_of_operation: 8