README.md

rsl_drive_sdk

Software Development Kit for all RSL drives.
The source code is released under BSD 3.

Supported drives

Name	Note
Dynadrive	Fully supported, including calibration
Halodi drives	Fully supported, including calibration
Other	There are additional, but not officially supported drives

Dependencies

Manual dependencies:

Repository	URL	License	Content
ethercat_sdk_master	https://github.com/leggedrobotics/ethercat_sdk_master/tree/master/ethercat_sdk_master	BSD 3-Clause	Ethercat master implementation
soem_interface	https://github.com/leggedrobotics/soem_interface	GPLv3	Wrapper around SOEM
message_logger	https://github.com/leggedrobotics/message_logger.git	BSD 3-Clause	Simple logger

Installable via rosdep:

Repository	URL	License	Content
yaml_cpp_vendor	https://github.com/ros2/yaml_cpp_vendor	Apache 2.0 / MIT	yaml library

Usage

Pull in the latest code into your local ROS2 workspace including the above mentioned manual dependencies. For an example on how to use the SDK standalone take a look at the example at the ethercat_device_configurator.

Setup

Allow your user to set priorities and niceness

The provided executables perform best when they are given higher priority than other processes. By default, a linux user or group cannot set priorities higher than 0. To allow your linux user account to do so, you need to append the following entries to the /etc/security/limits.conf file (replacing <username>):

<username>       -       rtprio          99
<username>       -       nice            -20

To allow your entire group to set higher priorities, append (replacing <groupname>):

@<groupname>     -       rtprio          99
@<groupname>     -       nice            -20

Configuration files

See the setup in the ethercat_device_configurator: link