Usage
Start EtherCAT Master
First 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>
Note
If nothing is displayed or some slave modules are missing, it means that your EtherCAT Master is either not well configured, or that the connection on your field-bus is interrupted.
Launch configuration
Once the EtherCAT Master is running you can go on and launch your configuration package.
$ ros2 launch [package] [launchfile]