Installation

Git and CMake

Install git package:

sudo apt update
sudo apt install -y git gitg git-gui
git --version
sudo apt install -y file build-essential curl cmake cmake-curses-gui

MatLogger

Install matlogger library:

sudo apt install -y libmatio-dev libfmt-dev libgtest-dev python3-pip python3-pybind11
git clone https://github.com/ADVRHumanoids/MatLogger2  (actual branch: v1.5.0)

Zmq, Protobuf, Msgpack, Boost

Install mechanism protocols:

sudo apt-get install -y libzmq3-dev
sudo apt install protobuf-compiler
sudo apt install libmsgpack-dev
sudo apt-get install libboost-system-dev

YAML

Install yaml utils:

sudo apt install libyaml-cpp-dev

QT and GUI Tools

Install GUI tools:

sudo apt install -y  qttools5-dev libqt5charts5-dev qtdeclarative5-dev libtiff-dev uuid-dev libcurl4-openssl-dev

Matlab and Simulink

Install Matlab/Simulink tools:

sudo dpkg --install ecat-client-advr/src/matlab/ec_block/external/blockfactory/(OS)/blockfactory_package-0.8.3-r0.0.1-amd64.deb

Build and install the EtherCAT Client Library from sorce

Prepare the workspace::: ecat-client-advr/scripts/.create_ws.sh [name_ws] [dir_ws, default=HOME]

Source into .bashrc the new workspace:

source ~/name_workspace/setup.bash

Download and compile EtherCAT Client:

cd src/

git clone https://github.com/Advanced-Robotics-Facility/ecat-client-advr

cd ../build
mkdir -p ecat-client-advr && cd ecat-client-advr
(compile and build the client)

Note: Select the variable to compile (EtherCAT Client Examples an Gravity compensation, the EtherCAT Client GUI and EtherCAT client block [Matlab/Simulink]):

Note: It’s possible to compile the EtherCAT Client Library with Xenomai Real-Time OS or Preempt-RT Real Times OS.

Install the EtherCAT Client Library from debian package

Download from this site the last version of EtherCAT Client Debian Package and install it:

https://github.com/Advanced-Robotics-Facility/ecat-client-advr/releases

Install EtherCAT Client Librarys:

sudo dpkg --install ecat-client-advr_nrt_package-0.0.1-r0.0.1-amd64.deb