<<StackHeader(pr2_ethercat_drivers)>>

{{{#!wiki version electric
electric files are no longer on svn, they can be found here: https://github.com/PR2/pr2_ethercat_drivers
}}}

{{{#!wiki version fuerte
fuerte files are no longer on svn, they can be found here: https://github.com/PR2/pr2_ethercat_drivers
}}}

{{{#!wiki version groovy
groovy files are no longer on svn, they can be found here:
https://github.com/PR2/pr2_ethercat_drivers
}}}

== Documentation ==
The `pr2_ethercat_drivers` stack provides support for the realtime ethernet variant that is used for communication on the PR2 robot.  These drivers are brought up as part of the realtime loop from [[pr2_etherCAT]].

The stack provides the following components:
 * [[eml]]: A third-party package that provides communication and initialization functions for EtherCAT slave devices.
 * [[ethercat_hardware]]: A driver package that supports the EtherCAT slave devices created by Willow Garage.
 * [[fingertip_pressure]]: A package that publishes ROS topics with information related to the PR2 fingertip pressure sensors.

== Report a Bug ==
Report new issues on [[https://github.com/PR2/pr2_ethercat_drivers/issues|Github]]

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