Developing an EtherCAT motion controller on ROS (Robot Operating System) has taken a significant step forward with the release of the second part of the tutorial series. The latest installment focuses on configuring the Zmotion dynamic library environment and demonstrating how to control a single-axis EtherCAT motion controller using ROS.

The tutorial provides detailed instructions on how to add the third-party path in CMakeLists.txt, link the dynamic link library, and modify header files. Additionally, it showcases the "talker" node achieving axis 0 motion and real-time sending of position data to the "listener" node, as well as modifying the "talker.cpp" file.

Source: https://dev.to/zmotion_controller/how-to-develop-ethercat-motion-controller-on-ros-2-1bln