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A good place to start is to read the User Manual.

The code is split in these following packages:

Installation Instructions

You can use this rosinstall file to install whole the necessary packages.

To use it, just download the rosinstall (to the /tmp directory in this example):

 $ cd /tmp
 $ wget "http://wiki/shadow_robot_etherCAT?action=AttachFile&do=get&target=shadow_robot.rosinstall" -O shadow_robot.rosinstall

Go to the directory where you want to install the packages (in this example, we'll assume it's /code/etherCAT_overlay, and ros is installed in /code/ros/diamondback), create an overlay, and then install the packages using rosinstall:

 $ cd /code/etherCAT_overlay
 $ rosinstall /code/etherCAT_overlay /code/ros/diamondback
 $ rosinstall /code/etherCAT_overlay /tmp/shadow_robot.rosinstall

Then don't forget to source the generated setup.bash.

You can now follow the Tutorials.

EtherCAT Instructions (with the REAL hand attached)

To start running the EtherCAT software you can follow the instructions in tutorial Starting the EtherCAT hand.

The following sections summarize the main features of the etherCAT software that are available through topics and services.


The topics list is obtained by typing

rostopic list


The service list is obtained by typing

rosservice list


2019-08-17 13:15