├── .gitignore ├── CMakeLists.txt ├── README.md ├── config └── ethercat_slaves.yaml ├── docs ├── Makefile ├── breathe │ ├── PKG-INFO │ ├── README.rst │ ├── breathe.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ ├── entry_points.txt │ │ ├── not-zip-safe │ │ ├── requires.txt │ │ └── top_level.txt │ ├── breathe │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ ├── apidoc.py │ │ ├── directive │ │ │ ├── __init__.py │ │ │ ├── __init__.pyc │ │ │ ├── base.py │ │ │ ├── base.pyc │ │ │ ├── file.py │ │ │ ├── file.pyc │ │ │ ├── index.py │ │ │ └── index.pyc │ │ ├── directives.py │ │ ├── directives.pyc │ │ ├── exception.py │ │ ├── exception.pyc │ │ ├── finder │ │ │ ├── __init__.py │ │ │ ├── __init__.pyc │ │ │ ├── base.py │ │ │ ├── base.pyc │ │ │ ├── compound.py │ │ │ ├── compound.pyc │ │ │ ├── core.py │ │ │ ├── core.pyc │ │ │ ├── index.py │ │ │ └── index.pyc │ │ ├── node_factory.py │ │ ├── node_factory.pyc │ │ ├── parser │ │ │ ├── __init__.py │ │ │ ├── __init__.pyc │ │ │ ├── compound.py │ │ │ ├── compound.pyc │ │ │ ├── compoundsuper.py │ │ │ ├── compoundsuper.pyc │ │ │ ├── index.py │ │ │ ├── index.pyc │ │ │ ├── indexsuper.py │ │ │ └── indexsuper.pyc │ │ ├── process.py │ │ ├── process.pyc │ │ ├── project.py │ │ ├── project.pyc │ │ └── renderer │ │ │ ├── __init__.py │ │ │ ├── __init__.pyc │ │ │ ├── base.py │ │ │ ├── base.pyc │ │ │ ├── filter.py │ │ │ ├── filter.pyc │ │ │ ├── mask.py │ │ │ ├── mask.pyc │ │ │ ├── sphinxrenderer.py │ │ │ ├── sphinxrenderer.pyc │ │ │ ├── target.py │ │ │ └── target.pyc │ ├── setup.cfg │ └── setup.py ├── doxygen │ └── Doxyfile └── source │ ├── conf.py │ ├── files.rst │ ├── guide.rst │ ├── index.rst │ └── licence.rst ├── etherlab ├── .hgignore ├── .hgtags ├── Makefile └── install_etherlab_patched.sh ├── experiments ├── 17May2019 │ ├── output_06.txt │ ├── output_07.csv │ ├── output_07.txt │ ├── output_08.csv │ └── output_08.txt └── 20Dec2018 │ └── ethercat_data_ground_1.orig │ ├── end_effector_laelaps.png │ ├── ethercat_data_ground_1.orig-pdo_in_slaves.csv │ ├── pwm_commands_hip.fig │ ├── pwm_commands_hip.pdf │ ├── pwm_commands_hip.png │ ├── pwm_commands_knee.fig │ ├── pwm_commands_knee.pdf │ ├── pwm_commands_knee.png │ ├── response_hip_angles.fig │ ├── response_hip_angles.pdf │ ├── response_hip_angles.png │ ├── response_hip_velocity.fig │ ├── response_hip_velocity.pdf │ ├── response_hip_velocity.png │ ├── response_knee_angles.fig │ ├── response_knee_angles.pdf │ ├── response_knee_angles.png │ ├── response_knee_velocity.fig │ ├── response_knee_velocity.pdf │ ├── response_knee_velocity.png │ ├── steady_state.fig │ └── steady_state.pdf ├── images ├── 2-1-50.png ├── 2.1-1-50.png ├── 2.5-1-50.png ├── 2.5-1-50_180.png ├── 2.8-1-50.png ├── 3-1-30.png ├── 3-1-333dia2.png ├── 3-1-50.png ├── 3-1-50_180.png ├── 3-1-80.png ├── 3-5-50.png ├── 3-5-50_180.png ├── DesiredHipAngles1Axes.png ├── DesiredHipAngles4Axes.png ├── desired_hip_angles_v1_matlab.eps ├── rqt_multiplot-1.png └── rqt_multiplot.png ├── include └── ether_ros │ ├── deadline_scheduler.h │ ├── ether_ros.h │ ├── ethercat_communicator.h │ ├── ethercat_slave.h │ ├── pdo_in_publisher.h │ ├── pdo_out_listener.h │ ├── pdo_out_publisher.h │ ├── pdo_out_publisher_timer.h │ ├── services.h │ └── utilities.h ├── launch └── ether_ros.launch ├── msg ├── ModifyPDOVariables.msg ├── PDOIn.msg ├── PDOOut.msg └── PDORaw.msg ├── package.xml ├── rqt_multiplot-4_slaves.xml ├── rqt_multiplot.txt ├── scripts ├── bag_to_csv.py ├── ellipse_n_1.sh ├── ellipse_n_4-v2.sh ├── ellipse_n_4.sh ├── ethercat_keyboard_controller.py ├── matlab │ ├── ForwardKinematics.m │ ├── result_plotter.m │ ├── tightfig.m │ └── trace_data_plotter.m ├── optimizations │ ├── change_permissions_ether_ros.sh │ ├── disallow_memory_overcommit.sh │ ├── full_dynamic_ticks.sh │ ├── isolate_cpus.sh │ ├── make_rt_task_ether_ros.sh │ ├── optimizations.sh │ ├── optimizing_partitioned_system.sh │ ├── reinstall_e1000e_wo_throttling.sh │ └── set_realtime_priority_irqeth.sh ├── result_plotter.py └── trace-cmd │ ├── output_native.txt │ ├── trace.dat │ ├── trace2csv.py │ ├── trace_01.sh │ ├── trace_02.sh │ ├── trace_03.sh │ └── trace_native.sh ├── src ├── ether_ros.cpp ├── ethercat_communicator.cpp ├── ethercat_slave.cpp ├── old_src_files │ ├── ethercat.c │ ├── ethercat_dc.c │ ├── ethercat_xen.c │ └── ethercat_xen_pos.c ├── pdo_in_publisher.cpp ├── pdo_out_listener.cpp ├── pdo_out_publisher.cpp ├── pdo_out_publisher_timer.cpp ├── services.cpp └── utilities.cpp └── srv ├── EthercatCommd.srv ├── ModifyOutputBit.srv ├── ModifyOutputSByte.srv ├── ModifyOutputSInt16.srv ├── ModifyOutputSInt32.srv └── ModifyOutputUInt16.srv /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikekaram/ether_ros/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 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