2. ROS Setup & Interface

This package was originally developed and tested on ROS Indigo and Ubuntu 14.04 LTS, but the combination of ROS Kinetic and Ubuntu 16.04LTS should also work.

1. Building the sources

Assuming that your workspace is located at /home/user/catkin_ws/ git clone ros_powerlink package to your src folder

$ cd ~/catkin_ws/src/
$ git clone https://github.com/SmartRoboticSystems/ros_powerlink.git

Before compilation you need to adopt OPLK_BASE_DIR path in CMakeLists.txt, edit line 4 - SET(OPLK_BASE_DIR /home/user/openPOWERLINK_V2.5.2). Now compile using catkin_make as usual

 $ cd ~/catkin_ws/    
 $ catkin_make

If build succeeded, ros_powerlink package is ready for use.

2. Running ros_powerlink node

After you finish your B&R project and load configuration to the PLC you can launch ros_powerlink node by typing

$ roslaunch ros_powerlink ros_powerlink.launch

3. ROS Interface