<<PackageHeader(netft_ethercat_hardware)>>
<<TOC(4)>>

== Introduction ==
Package provides [[ethercat_hardware]] plugin for NetFT force/torque sensor.   Driver does not communicate over EtherCAT chain, but instead uses its own UDP connection.   Having NetFT sensor act as ethercat_hardware plugin (as opposed to ROS node) allows realtime controllers to obtain force/torque values as  [[http://www.ros.org/doc/api/pr2_hardware_interface/html/classpr2__hardware__interface_1_1AnalogIn.html|analog inputs]]

If force/torque data is not needed by realtime controllers, consider using '''netft_node''' from [[netft_rdt_driver]] package.

== Install ==
Driver will only currently work with [[pr2_ethercat_drivers]] stack from trunk.  As such, a special overlay is needed to make things operate correctly.  See [[netft_ethercat_hardware/Tutorials|tutorials]] for directions. 


## AUTOGENERATED DON'T DELETE
## CategoryPackage