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INSTALL.md

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Installation

Required setup : Ubuntu 22.04 LTS

1. Installing EtherLab

The proposed development builds upon the IgH EtherCAT Master. Installation steps are summarized here:

$ sudo apt-get update
$ sudo apt-get upgrade
$ sudo apt-get install git autoconf libtool pkg-config make build-essential net-tools
$ git clone https://gitlab.com/etherlab.org/ethercat.git
$ cd ethercat
$ git checkout stable-1.5
$ sudo rm /usr/bin/ethercat
$ sudo rm /etc/init.d/ethercat
$ ./bootstrap  # to create the configure script, if downloaded from the repository
$ ./configure --prefix=/usr/local/etherlab  --disable-8139too --enable-generic
$ make all modules
$ sudo make modules_install install
$ sudo depmod
$ sudo ln -s /usr/local/etherlab/bin/ethercat /usr/bin/
$ sudo ln -s /usr/local/etherlab/etc/init.d/ethercat /etc/init.d/ethercat
$ sudo mkdir -p /etc/sysconfig
$ sudo cp /usr/local/etherlab/etc/sysconfig/ethercat /etc/sysconfig/ethercat
$ sudo groupadd ecusers
$ sudo usermod -a -G ecusers ${USER}
$ sudo bash -c "echo KERNEL==\"EtherCAT[0-9]*\", MODE=\"0664\", GROUP=\"ecusers\" > /etc/udev/rules.d/99-EtherCAT.rules"
$ sudo vi /etc/sysconfig/ethercat

or

$ sudo gedit /etc/sysconfig/ethercat # If using ubuntu desktop

In the configuration file specify the mac address of the network card to be used and its driver

MASTER0_DEVICE="ff:ff:ff:ff:ff:ff"  # mac address
DEVICE_MODULES="generic"

Now you can start the EtherCAT master:

$ sudo /etc/init.d/ethercat start

it should print

Starting EtherCAT master 1.5.2  done

Make sure your current user is member of ecusers and check connected slaves:

$ ethercat slaves

It should print information of connected slave device. Example,

0  2:0  PREOP  +  NX-ECC201 EtherCAT coupler V1.2

2. Building ethercat_driver_ros2

  1. Install ros2 packages. The current developpment is based of ros2 humble. Installation steps are decribed here.
  2. Source your ros2 environment: 
    source /opt/ros/humble/setup.bash
    NOTE: The ros2 environment needs to be sources in every used terminal. If only one distribution of ros2 is used, it can be added to the ~/.bashrc file.
  3. Install colcon and its extensions : 
    sudo apt install python3-colcon-common-extensions
  4. Create a new ros2 workspace: 
    mkdir ~/ros2_ws/src
  5. Pull relevant packages, install dependencies, compile, and source the workspace by using: 
    cd ~/ros2_ws
git clone https://github.com/ICube-Robotics/ethercat_driver_ros2.git src/ethercat_driver_ros2
rosdep install --ignore-src --from-paths . -y -r
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
source install/setup.bash