modify the loop in main.cpp in ros_ethercat_loop so that each Ethercat Device may have different sampling rates. Integer multiples should be adequate to keep things simple. A yaml file can define rates for the Devices that don't use the standard rate.
modify the loop in main.cpp in ros_ethercat_loop so that each Ethercat Device may have different sampling rates. Integer multiples should be adequate to keep things simple. A yaml file can define rates for the Devices that don't use the standard rate.