Ethercat Driver ROS 2 - iCube, Strasbourg (02.2024)
Topic: the ethercat_driver_ros2 package
Speaker: Manuel YGUEL, PhD, IRIS robotics platform of iCube, Strasbourg
Summary:
Presentation
Use cases
Limitations
Roadmap proposition
Github repo: https://github.com/ICube-Robotics/eth...
Documentation: https://icube-robotics.github.io/ethe...
EtherCAT has been used since 2010 in the iCube research team (Strasbourg, FRANCE) for medical robots and robotic applications.
The team is integrated in a hospital including its work in operational contexts integrating MDs and surgeons.
ROS2 new features and especially ros2_control made it possible to integrate the team's work with EtherCAT while meeting the basic expectations regarding medical operations.
Thus the team decided to contribute to ROS2 to make EtherCAT available at a ros control level for the ROS community.
After presenting the team and the ros2 package, the talk will briefly introduce EtherCAT and its advantages for robotics.
We will then present the relationship of the package with the EtherCAT ecosystem then with ROS2 control.
We will present current limitations and our propositions for the roadmap for the future releases.
We hope to succite interest from the community for the future developments and get inputs, feature requests and proposals.
About the speaker
Manuel YGUEL, PhD.
Manuel defended his PhD in 2009 at INRIA / INPG, Grenoble. He specialized in the use of Bayesian modeling for SLAM,
especially developing signed-distance functions techniques for cartography and expectation-maximization techniques applied to ICP for localization.
Afterward, he joined the FZI (Karlsruhe), as a postdoctoral fellow, to work on sensor calibration in the autonomous car team.
In the last decade he co-founded Strataggem where sensor systems were developed at the electronics level for IoT and
robotics systems. In December 2023, he joined the IRIS robotics platform of iCube to push forward the development of the EtherCAT stack
and bring his skills in navigation and localization to the team.
About the ROS-I dev Meeting
Februar 2024 session, organized by Fraunhofer IPA on behalf of the ROS-Industrial Consortium Europe.