synapticon_ros2_control

Software
Robot arms and industry
Driver or SDK

A ROS 2 example package for driving Synapticon drives (SOMANET Node, Circulo, Integro) in position, velocity and torque modes over EtherCAT via the SOEM master.

Made by Synapticon, Germany (checked on github.com/synapticon (opens in a new tab)).

Source on GitHub: github.com/synapticon/synapticon_ros2_control (opens in a new tab). Facts read at commit a8ca2de (opens in a new tab).

Licenses

Code: MIT (opens in a new tab)
Read by Robotheca from LICENSE.md (opens in a new tab) (MIT) at commit a8ca2de (opens in a new tab), on 16 Oct 2026.
Commercial use: Yes

What it does

Shows how to command Synapticon drives in cyclic sync position, velocity and torque modes from ROS 2.
Uses the SOEM EtherCAT master to communicate with the drives over an Ethernet interface.
Includes demo launch files for one-motor and two-motor setups, with RViz simulation.
Supports installation from source, from binary packages, and inside a Docker container.
Drives must first be configured with OBLAC tools; drives can be daisy-chained in any order.
Provides an optional systemd service to run the control node without sudo.

Written by Robotheca from the project's README (opens in a new tab) at commit a8ca2de.

Getting started

Difficulty: Advanced
Hardware it needs, as the project states it: Ubuntu 22.04 or 24.04 with ROS 2 (humble, jazzy or rolling), or Docker; a Synapticon drive (SOMANET Node, Circulo or Integro) connected to an Ethernet port.
How to start: The project's website (opens in a new tab)

Maintenance

Status: Maintained: a commit in the last 12 months
Newest commit: 31 Jan 2026 on jazzy
Latest release: None published on GitHub

Checked on GitHub on 16 Oct 2026.

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.