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README.md

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#setup

  • connect ethercat module using ethernet cable (outport of the module block)
  • set on your pc a (random) fixed IP to the port where you connected the cable
  • test your connection with the slave info script with the ethernet port number you use, eg.:
    • sudo ./soem_core/bin/slaveinfo eth1 or sudo /opt/ros/indigo/bin/slaveinfo eth1 if installed from ros-indigo-soem-master
    • in case the latter fails because the executable does not find libsoem.so
      • sudo su
      • export LD_LIBRARY_PATH=/opt/ros/indigo/lib
      • /opt/ros/indigo/bin/slaveinfo eth1
  • set permissions for the executables that will use soem: ./setcaps.sh or ./opt/ros/indigo/lib/soem_master/setcap.sh if installed from ros-indigo-soem-master
  • deploy a soem master component
  • set the component ifname property to the correct eth number, eg. eth1
  • configure and start the component