EMROS  is an open-source software used to connect Nanotec's EM5 controller to ROS (Robot Operating System) via Ethernet:

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.

EMROS-ROS

EMROS-EM5  is the software within the freely programmable part of the  EM5 CANopen master.  It  controls the drives in a temporally precise cycle via CANopen.

EMROS-EM5