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Following tutorial describes the very basic procedure how to enable Powerlink communication from ROS. This package has been originally developed within the Pathfinder project and heavily tested during several months long pilot operation.

The main goal of this tutorial is to provide basic overview how to configure your PC running Ubuntu

Hardware requirements

• B&R PLC X20CP14F84 or similar openPOWERLINK compatible PLC
• Linux PC with Ethernet port

Software requirements

• Ubuntu 14.04 LTS + ROS Indigo (might also work on 16.04LTS + Kinetic)
• B&R Automation Studio

This article describes how you can use openPOWERLINK on the Raspberry Pi2 and build your own distributed automation platform and control the signals of motors, sensors, actuators, relays etc. You will also learn how to use openCONFIGURATOR to configure the network. You can then modify the C programs included to send and receive data using the IO pins.