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CommonplaceRobotics / iRC_ROS

ROS2 packages for the igus Robot Control
Apache License 2.0
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HardwareInterface error for single module errors #53

Closed cpr-fer closed 1 year ago

cpr-fer commented 1 year ago

This adds a check to the read method of the CAN hardware interface that makes sure the entire hardware interface stops once a single module has an unrecoverable error. This is not tested besides making sure it compiles as of yet.

cpr-fer commented 1 year ago

The change works great for the ReBeL BLDC boards, but not as good for the din rail stepper modules. Either the startup sequence needs to be adapted somewhat or the modules take longer to go out of errorstate causing an unnecessary failure.

cpr-fer commented 1 year ago

The fix for the stepper modules required some small changes to the reset and startup behaviour. Now both types of modules are working fine with regards to startup and stopping the hardware interface on errors.