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Bugfix on ecatmotor and update document for robotmctask #1415

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Merged
merged 2 commits into from
Dec 1, 2025
+14 −4
Merged

Bugfix on ecatmotor and update document for robotmctask #1415

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e38497a
update ecatmotor example without multiple domain
intelzhangw2 Nov 27, 2025
19c945c
Update README.md to add more dependencies
intelzhangw2 Nov 28, 2025
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2 changes: 0 additions & 2 deletions ...ries/edge-control-libraries/fieldbus/ecat-enablekit/examples/ecatmotor/single_motor_vel.c
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Original file line number Diff line number Diff line change
Expand Up @@ -32,8 +32,6 @@
#include <time.h>
#include <getopt.h>

#define ECAT_MULTIPLE_DOMAIN_MODE

#define CYCLE_US (1000)
#define PERIOD_NS (CYCLE_US*1000)
#define NSEC_PER_SEC (1000000000L)
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16 changes: 14 additions & 2 deletions libraries/edge-control-libraries/fieldbus/robotmctask/README.md
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Expand Up @@ -29,13 +29,13 @@ sudo apt-get install cmake git build-essential libyaml-cpp-dev libeigen3-dev
3. Install plcopen-motion library:

```shell
sudo apt-get install plcopen-motion-dev plcopen-servo-dev plcopen-ruckig-dev plcopen-databus-dev plcopen-benchmark-dev
sudo apt-get install plcopen-motion-dev plcopen-servo-dev plcopen-ruckig-dev plcopen-databus-dev plcopen-benchmark-dev libshmringbuf-dev
```

4. Install EtherCAT stack and ECAT-Enablekit. Note: You also can follow [Userspace EtherCAT Master Stack](../ethercat-masterstack/docs/igh_userspace.md) and [EtherCAT Enable Kit](../ecat-enablekit/README.md) to build/deploy these packages.

```shell
sudo apt-get install ighethercat-dpdk ecat-enablekit-dpdk
sudo apt-get install ighethercat-dpdk ecat-enablekit-dpdk libethercatd-dev
```

5. Follow with below command to install ruckig:
Expand All @@ -49,6 +49,18 @@ make
make install
```

6. Install OpenVINO Toolkit using APT repository. For details, visit the [OpenVINO Toolkit Overview Website](https://www.intel.com/content/www/us/en/developer/tools/openvino-toolkit/overview.html)

```shell
sudo apt install openvino-2025.3.0
```

7. Install robot_rviz

```shell
sudo apt install ros-<ROS2 codename>-ti5-rviz
```

# Build

Follow below command to build library and examples:
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