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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:

  • Install required tools:

    $ sudo apt-get update
$ sudo apt-get upgrade
$ sudo apt-get install git autoconf libtool pkg-config make build-essential net-tools

  • Setup sources for the EtherCAT Master:

    $ 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

  • Configure, build and install libs and kernel modules:

    $ ./configure --prefix=/usr/local/etherlab  --disable-8139too --disable-eoe --enable-generic

$ make all modules
$ sudo make modules_install install
$ sudo depmod

    NOTE: This step is needed every time the Linux kernel is updated.

  • Configure system:

    $ 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

  • Create a new udev rule:

    $ sudo gedit /etc/udev/rules.d/99-EtherCAT.rules

    containing:

    KERNEL=="EtherCAT[0-9]*", MODE="0664"

  • Configure the network adapter for EtherCAT:

    $ sudo gedit /etc/sysconfig/ethercat

    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

You can check connected slaves:

$ ethercat slaves

It should print information of connected slave device:

<id>  <alias>:<position>  <device_state>  +  <device_name>

Example:

0  0:0  PREOP  +  <device_0_name>
0  0:1  PREOP  +  <device_1_name>

2. Building ethercat_driver_ros2

  1. Install ros2 packages. The current development is based of ros2 humble. Installation steps are described 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