#setup

• connect ethercat module using ethernet cable (outport of the module block)
• set on your pc a (random) fixed IP to the port where you connected the cable
• test your connection with the slave info script with the ethernet port number you use, eg.:
  • sudo ./soem_core/bin/slaveinfo eth1 or sudo /opt/ros/indigo/bin/slaveinfo eth1 if installed from ros-indigo-soem-master
  • in case the latter fails because the executable does not find libsoem.so
    • sudo su
    • export LD_LIBRARY_PATH=/opt/ros/indigo/lib
    • /opt/ros/indigo/bin/slaveinfo eth1
• set permissions for the executables that will use soem: ./setcaps.sh or ./opt/ros/indigo/lib/soem_master/setcap.sh if installed from ros-indigo-soem-master
• deploy a soem master component
• set the component ifname property to the correct eth number, eg. eth1
• configure and start the component