ROS + LinuxCNC HAL

Hal-core is a lightweight HAL environment from LinuxCNC. The installed size is approx 7Mib

A hal environment can be used as platform to run realtime applications like:

Motion controllers 
Robots
CNC-machines 
Parport, EtherCAT applications
Research and development 
Scientific projects

Install hal-core:

$ git clone --recursive https://github.com/jjrbfi/hal-core.git /opt/hal-core
$ cd /op/hal-core/
$ sudo ./make
$ sudo chown -R $USER:$USER /opt/hal-core/

Before run:

1. Modify config/hal.yaml file with your Hardware configuration and then run hal_config.py to create our .xml
2. Run ROScore and keep it in the background with: roscore &

To run:

Setup HAL
$ ./runtest

Run ROS listener
$ halcmd -r

Requirements:

apt-get install -y build-essential 
apt-get install -y libudev-dev
apt-get install -y libboost-all-dev
apt-get install -y libreadline-dev