.. _connecting-to-the-exoskeleton-ethercat-label:

Connecting to the exoskeleton with ethercat
===========================================
.. inclusion-introduction-start

This tutorial will help you set up a wired connection with the exoskeleton.
If you are interested in a wireless connection, take a look at :ref:`connecting-to-the-exoskeleton-label`.

.. inclusion-introduction-end

.. note:: Make sure your workspace is sourced and set-up correctly: :ref:`setup-your-workspace-label`.

.. _preparation-before-connecting-ethercat-label:

Launching ROS on the exoskeleton
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
When connecting to the exo with an ethernet cable, you can just start up the exo by using the training commands in the shel of the connected pc.