Introduction

Package provides ethercat_hardware plugin for NetFT force/torque sensor. Driver does not communicate over EtherCAT chain, but instead uses its own UDP connection. Having NetFT sensor act as ethercat_hardware plugin (as opposed to ROS node) allows realtime controllers to obtain force/torque values as analog inputs

If force/torque data is not needed by realtime controllers, consider using netft_node from netft_rdt_driver package.

Install

Driver will only currently work with pr2_ethercat_drivers stack from trunk. As such, a special overlay is needed to make things operate correctly. See tutorials for directions.