FCAT ROS 2 Integration

This repository contains fcat and fcat_msgs, the ROS 2 integration layer for the FCAT EtherCAT stack.

At a high level:

• SOEM provides the EtherCAT master library.
• jsd provides low-level device drivers on top of SOEM.
• fastcat provides composable EtherCAT command and control.
• fcat exposes that stack to ROS 2 through topics and services.
• fcat_msgs: provides the ROS 2 message definitions for fcat.

See README in each of those repositories for more details on their functionality and usage.

See this infographic for a visual representation of the software stack: