├── .gitignore ├── INSTALL_IGH_ETHERCAT_MASTER.md ├── README.md ├── custom_interfaces ├── CMakeLists.txt ├── msg │ └── IOStatus.msg ├── package.xml └── srv │ ├── GripperControl.srv │ └── OutputControl.srv ├── ethercat_driver ├── CMakeLists.txt ├── ethercat_driver_plugin.xml ├── include │ └── ethercat_driver │ │ ├── ethercat_driver.hpp │ │ └── visibility_control.h ├── package.xml └── src │ └── ethercat_driver.cpp ├── ethercat_interface ├── CMakeLists.txt ├── include │ └── ethercat_interface │ │ ├── ec_master.hpp │ │ └── ec_slave.hpp ├── package.xml └── src │ └── ec_master.cpp ├── ethercat_plugins ├── CMakeLists.txt ├── available_plugins.md ├── ethercat_plugins.xml ├── include │ └── ethercat_plugins │ │ └── commondefs.hpp ├── package.xml └── src │ ├── ati_plugins │ └── ati_ft_sensor.cpp │ ├── beckhoff_plugins │ ├── beckhoff_ek1100.cpp │ ├── beckhoff_el10xx.cpp │ ├── beckhoff_el20xx.cpp │ ├── beckhoff_el21xx.cpp │ ├── beckhoff_el31xx.cpp │ ├── beckhoff_el41xx.cpp │ └── beckhoff_el5101.cpp │ ├── maxon_plugins │ └── maxon_epos3.cpp │ └── omron_plugins │ ├── omron_fh_2050 copy.cpp │ ├── omron_fh_2050.cpp │ ├── omron_nx_ecc201_nx_id5442.cpp │ ├── omron_nx_ecc201_nx_od5256.cpp │ ├── omron_nx_ecc202_nx_id5142_1.cpp │ └── omron_nx_ecc202_nx_od5256.cpp ├── gpio_control ├── CMakeLists.txt ├── config │ ├── camera_controller_fh_2050.yaml │ ├── gpio_controller_beckoff_ek1100_el1008_el2008.yaml │ ├── gpio_controller_omron_nxecc201_nxid5442.yaml │ ├── gpio_controller_omron_nxecc201_nxid5442_nxod5256.yaml │ ├── gpio_controller_omron_nxecc201_nxod5256.yaml │ └── gpio_controller_omron_nxecc202_nxid5142_1_nxod5256.yaml ├── doc │ ├── Building_ethercat_driver_ros2.txt │ ├── EC Engineer.txt │ ├── ESI │ │ ├── Omron FH-xxxx-xx.xml │ │ ├── Omron NX_Coupler.xml │ │ ├── Omron NX_Modules.xml │ │ └── Omron_FHFHV │ │ │ ├── Omron FH-xxxx-xx.xml │ │ │ ├── Omron FHFHV_Modules.xml │ │ │ └── Omron FHV7x-xxxxx.xml │ ├── EXI │ │ ├── acontis_hardware_simulation_beckoff_ek1100_el1008_el2008.xml │ │ ├── acontis_hardware_simulation_omron_fh2050.xml │ │ ├── acontis_hardware_simulation_omron_nxecc202_nxid51421_nxod5256_wc3.xml │ │ ├── acontis_hardware_simulation_omron_nxecc202_nxid5442_nxod5256_fh2050_wc2.xml │ │ └── acontis_hardware_simulation_omron_nxecc202_nxid5442_nxod5256_wc2.xml │ ├── IGH master setup │ ├── IGH master setup wc2 │ ├── acontis simulation setup │ ├── acontis tools │ ├── ethercat plugins │ ├── ros_dependencies_install_wc2.txt │ ├── vision.txt │ ├── vision2.txt │ ├── vision2_soem.txt │ └── vision_soem.txt ├── ethercat_start.sh ├── ethercat_stop.sh ├── launch │ ├── gpio_control_beckoff_ek1100_el1008_el2008_launch.py │ ├── gpio_control_omron_fh_2050_launch.py │ ├── gpio_control_omron_nxecc201_nxid5442_launch.py │ ├── gpio_control_omron_nxecc201_nxid5442_nxod5256_wc2_launch.py │ ├── gpio_control_omron_nxecc201_nxod5256_launch.py │ ├── gpio_control_omron_nxecc202_nxid5142_1_nxod5256_wc3_launch.py │ ├── wc2_launch.py │ └── wc3_launch.py ├── package.xml ├── readme.md ├── src │ ├── camera_service_server.cpp │ ├── output_control_service_server.cpp │ ├── output_reset_service_server.cpp │ └── test_output_publisher.cpp ├── srv │ └── OutputControl.srv └── urdf │ ├── camera_ros2_control_omron_fh_2050.xacro │ ├── gpio_ros2_control_beckoff_ek1100_el1008_el2008.xacro │ ├── gpio_ros2_control_omron_nxecc201_nxid5442.xacro │ ├── gpio_ros2_control_omron_nxecc201_nxid5442_nxod5256.xacro │ ├── gpio_ros2_control_omron_nxecc202_nxid5142_1_nxod5256.xacro │ └── gpio_ros2_control_omron_nxecc202_nxod5256.xacro ├── gpio_controllers ├── CMakeLists.txt ├── doc │ └── userdoc.rst ├── gpio_controllers_plugin.xml ├── include │ └── gpio_controllers │ │ ├── gpio_command_controller.hpp │ │ └── visibility_control.h ├── package.xml ├── src │ └── gpio_command_controller.cpp └── test │ ├── test_gpio_command_controller.cpp │ ├── test_gpio_command_controller.hpp │ └── test_load_gpio_command_controller.cpp └── igh_auto_install.sh /.gitignore: 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