John Morris (Tormach)
Brandon Duarte (Tormach)
Tormach’s expertise in CNC motion control has been applied to bridge the gap between ROS and the MachineKit/LinuxCNC Hardware Abstraction Layer (HAL). Leveraging the strengths of these open-source projects, we created a seamless interface that allows for high-performance, real-time motion control within the ROS ecosystem, with control loops of 1kHz up to 3MHz. Join us as we dive into the details of the hal_ros_control package.
ZA6 Robot은 산업용 robot arm이고, MachineKit/LinuxCNC HAL을 ROS에 적용시킨 강연이다. HAL에 대한 이해가 부족해서 강연을 이해하기 어려웠다..
https://github.com/machinekit/machinekit-hal
GitHub - machinekit/machinekit-hal: Universal framework for machine control based on Hardware Abstraction Layer principle
Universal framework for machine control based on Hardware Abstraction Layer principle - GitHub - machinekit/machinekit-hal: Universal framework for machine control based on Hardware Abstraction Lay...
github.com
