On 12/5/22 16:18, Steffen Möller wrote:
I see a distributed control system. Many units that know the units that are
neighboured (i.e. that they cooperate with) but do not need to see the complete
world. And if the neighbours are allowed to be dynamic, then tis would then
even work with mobile systems, but this is where ROS kicks in, right?
Yes, ROS2 would be for controlling the mobile roving platform. The
machine tool mounted on a mobile platform would use LCNC to control the
axis motors and spindles.
Also this has been done:
https://github.com/zultron/hal_ros_control/
This package provides interfaces to Machinekit <http://machinekit.io>
HAL from ROS. It is expected to realize these benefits:
* Bring real-time control to ROS with Machinekit RTAPI
* Run on inexpensive PC and ARM hardware
* Enable setting up many robot hardware interfaces with configuration
only, no programming
* Leverage Machinekit's wide variety of real-time components:
o Hardware drivers: EtherCAT, BeagleBone GPIO, Mesa Electronics
AnythingI/O FPGA cards, PC parallel port
o Motor control: quadrature encoders, step/direction, PWM
generators, PID controllers
o Arithmetic: limit position/velocity/acceleration, scale/offset,
low-pass filter, derivative/integral, multiplexer
o Logic: and/or/xor/not, look-up tables, debouncer, flip-flop
o And many more, plus simple tools to write custom components in C
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