Ethercat dual can muscle hand

Git branches involved

How to start the system

roscore

In a new terminal:

sudo -s
roslaunch sr_ethercat_hand_config sr_rhand.launch

To run the controllers:

rosrun rqt_gui rqt_gui

and open the plugin:

• Plugins->Shadow Robot->Controllers->Change Muscle Controllers

To bootload the muscle drivers

The FW in the muscle drivers can be reprogrammed by using the plugin

• Plugins->Shadow Robot->EtherCAT->Muscle Driver Bootloader

Be careful to choose the correct .hex file for the muscle drivers.