Cómo solucionar el error de compilación de ROS2: missing ethercat_sdk_masterConfig.cmake

Problema

Al intentar compilar algún paquete ROS usando colcon build, ves un mensaje de error como

cmake_error_ethercat_sdk.txt

CMake Error at CMakeLists.txt:27 (find_package):
  By not providing "Findethercat_sdk_master.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "ethercat_sdk_master", but CMake did not find one.

  Could not find a package configuration file provided by
  "ethercat_sdk_master" with any of the following names:

    ethercat_sdk_masterConfig.cmake
    ethercat_sdk_master-config.cmake

  Add the installation prefix of "ethercat_sdk_master" to CMAKE_PREFIX_PATH
  or set "ethercat_sdk_master_DIR" to a directory containing one of the above
  files.  If "ethercat_sdk_master" provides a separate development package or
  SDK, be sure it has been installed.

Solución

Desafortunadamente, instalar esto no es tan fácil como simplemente instalar un paquete.

En general, involucra los siguientes pasos:

Instalar el master EtherCAT. Recomiendo instalar el master EtherLab usando el repositorio APT: Ver nuestro post anterior A https://github.com/synapticon/Etherlab_EtherCAT_Master
Instalar el driver ROS para EtherCAT. Recomiendo usar