hello
I have installed igh and everything. When I run roslaunch ether_ ros ether_ Ros. launch, which is an error

[ INFO] [1668064005.140446679]: Got param: slave_root_loc + input_port = 6010
[ INFO] [1668064005.140915152]: Got param: slave_root_loc + output_port = 7000
Failed to register PDO entry: No such file or directory
[FATAL] [1668064005.140979906]: Failed to configure pdo out.
[ether_comm-2] process has died [pid 2643, exit code 1, cmd /home/b/igh/ROS/ether_ros_1109/devel/lib/ether_ros/ether_ros __name:=ether_comm __log:=/home/b/.ros/log/3bc2297c-60c6-11ed-bc35-35dde927bbf0/ether_comm-2.log].
log file: /home/b/.ros/log/3bc2297c-60c6-11ed-bc35-35dde927bbf0/ether_comm-2*.log

I know that the data in the official igh routine is not put into your package, such as the following data.
Because I don't know how to put these PDO code and SDO into your pack？

#define estun 0x000116c7,0x003e0402
ec_pdo_entry_reg_t domainServoOutput_regs[] = {
{estun_Pos0, estun, 0x6040, 0x00, &cntlwd, NULL},
{estun_Pos0, estun, 0x607a, 0x00, &ipData, NULL},
{estun_Pos0, estun, 0x6060, 0x00, &modes_of_operation, NULL},
{}
};
ec_pdo_entry_reg_t domainServoInput_regs[] = {
{estun_Pos0, estun, 0x6064, 0x00, &actpos, NULL},
{estun_Pos0, estun, 0x6041, 0x00, &status, NULL},
{estun_Pos0, estun, 0x6061, 0x00, &modes_of_operation_display, NULL},
{estun_Pos0, estun, 0x603f, 0x00, &error_code, NULL},
{}
};
ec_pdo_entry_info_t estun_pdo_entries[] = {
{0x6040, 0x00, 16}, /* Controlword /
{0x6060, 0x00, 8}, / Modes of operation /
{0x607a, 0x00, 32}, / Target position /
{0x60b8, 0x00, 16}, / Touch probe function /
{0x603f, 0x00, 16}, / Error code /
{0x6041, 0x00, 16}, / Statusword /
{0x6061, 0x00, 8}, / Modes of operation display /
{0x6064, 0x00, 32}, / Position actual value /
{0x60b9, 0x00, 16}, / Touch probe status /
{0x60ba, 0x00, 32}, / Touch probe pos1 pos value /
{0x60f4, 0x00, 32}, / Following error actual value /
{0x60fd, 0x00, 32}, / Digital inputs */
};

ec_pdo_info_t estun_pdos[] = {
{0x1600, 4, estun_pdo_entries + 0}, /* Receive PDO mapping 1 /
{0x1a00, 8, estun_pdo_entries + 4}, / Transmit PDO mapping 1 */
};

ec_sync_info_t estun_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, estun_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, estun_pdos + 1, EC_WD_DISABLE},
{0xff}
};

Can you tell me where to put it? How?

very thanks

Hi I'm trying to install etherlab by following your steps:
Run the script install_etherlab_patched.sh.

and I do so by running:
$ sudo ./install_etherlab_patched.sh
from the directory:
~/catkin_ws/src/ether_ros/etherlab

One of the errors that I got was this:
checking for kernel for e1000e driver... configure: error: kernel 4.9 not available for e1000e driver!

That ultimately showed this (or I guess that was the reason):
make[1]: *** No rule to make target 'all'. Stop.
make[1]: Leaving directory '/home/bioroboticslabros/catkin_ws/src/ether_ros/etherlab/ethercat-1.5.2-merc'
Makefile:13: recipe for target 'ethercatMaster' failed
make: *** [ethercatMaster] Error 2

I'm using ubuntu 16.04 with the RT patched 4.9 kernel.

Any advice or help will be greatly appreciated.

Ivan

can run in the kernel 4.15?
can you give same example about control slave such like mapping pdo etc?