EMROS is an open-source software used to connect Nanotec’s EM5 controller to ROS via Ethernet. It consists of two parts:
EMROS-ROS is a ROS package that calculates the target speed of the wheel drives and sends it to the EMROS-EM5 part of the software via Ethernet.
EMROS-EM5 is a software within the freely programmable part of the CANopen master EM5 that controls the wheel drives in a temporally precise cycle via CANopen.