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Merged
PastorD merged 5 commits into from
Apr 24, 2026
Merged

Split fastcat init #9

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1535595
add init hardware
PastorD Apr 21, 2026
06f4353
use temporary fastcat branch
PastorD Apr 22, 2026
d016a79
use CreateConfigFromYaml
PastorD Apr 23, 2026
1bdca07
Merge branch 'main' into split-fastcat-init
PastorD Apr 23, 2026
a18ad7c
update to latest fastcat and fcat_msgs
PastorD Apr 24, 2026
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2 changes: 1 addition & 1 deletion .github/workflows/ros2_build_and_tag.yml
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Expand Up @@ -46,7 +46,7 @@ env:
apt-get install -y python3-ipython
dpkg -i fcat/.github/python3-cogapp_3.3.0-3_all.deb
cp fcat/.github/cog /usr/local/bin/
git clone --depth 1 --branch update-msgs https://github.com/nasa-jpl/fcat_msgs.git
git clone --depth 1 --branch v0.10.0 https://github.com/nasa-jpl/fcat_msgs.git

jobs:
# ============================================================================
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -23,7 +23,7 @@ endif()
include(FetchContent)
FetchContent_Declare(fastcat
GIT_REPOSITORY https://github.com/nasa-jpl/fastcat.git
GIT_TAG v0.13.13
GIT_TAG v0.13.15
)
FetchContent_MakeAvailable(fastcat)

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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -14,7 +14,7 @@ An optional ROS2 node called `fcat_srvs` is provided in this package. The purpos

## Quickstart

Due to a potential issue in the default RMW implementation, the cyclone vendor is recommended for use as of the Feb 2021 ROS2 Foxy release.
Due to a potential issue in the default RMW implementation, the cyclone vendor is recommended for use:

``` bash
sudo apt install ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
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8 changes: 6 additions & 2 deletions src/fcat.cpp
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Expand Up @@ -48,7 +48,7 @@ Fcat::Fcat(const rclcpp::NodeOptions& options)
RCLCPP_INFO(this->get_logger(), "loading Yaml from %s", fastcat_config_path.c_str());
YAML::Node node = YAML::LoadFile(fastcat_config_path);

if (!fcat_manager_.ConfigFromYaml(node)) {
if (!fcat_manager_.CreateConfigFromYaml(node)) {
throw std::invalid_argument("Fastcat Manager failed to process bus configuration YAML file.");
}

Expand Down Expand Up @@ -240,7 +240,11 @@ Fcat::Fcat(const rclcpp::NodeOptions& options)
loop_period_sec_ = 1.0 / fcat_manager_.GetTargetLoopRate();
last_time_ = this->now().seconds();
module_state_msg_.faulted = false;


if (!fcat_manager_.InitHardware()) {
throw std::invalid_argument("Fastcat Manager failed to initialize EtherCAT hardware.");
}

fcat_state_ = FcatState::INACTIVE;
StartProcessTimer();
fcat_state_ = FcatState::ACTIVE;
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