ROS2-SOEM

This package is down-stream of SOEM project, you can view the origin project HERE. This project have removed all the examples, if you want to build the example program, please download the up-stream package.

Install

From DEB package

sudo dpkg -i ros-humble-soem_1.4.0-0jammy_amd64.deb

From Source

ROS2-SOEM is a ros2 package, to install and use it in your project, please running the following steps in your terminal:

$ cd ${your_worksapce_path}/src
$ git clone https://github.com/UoN-Hari/ROS2-SOEM soem
$ cd ..
$ colcon build

Usage

To use SOEM in your project, please add following lines in your package.xml,

<build_depend>soem</build_depend>
<exec_depend>soem</exec_depend>

And in your CMakeLists.txt, add the corressponding dependency,

# Add soem package here
find_package(soem REQUIRED)

# No need to derive
include_directories(
  include
)

# Your executable generation command, no need to derive
add_executable(${executable_name} SOURCES)

# Add soem package here
ament_target_dependencies(${executable_name}
  soem ...
)

# No need to derive
install(TARGETS ${executable_name}
  DESTINATION lib/${PROJECT_NAME}
)

TODO

• Multi-platform test
• Build binary package