SDO not correctly set when using alias

ICube-Robotics / ethercat_driver_ros2

Hardware Interface for EtherCAT module integration with ros2_control

https://icube-robotics.github.io/ethercat_driver_ros2/

Apache License 2.0

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SDO not correctly set when using alias #119

Open JensVanhooydonck opened 2 months ago

JensVanhooydonck commented 2 months ago

Due to the use of ecrt_master_sdo_download the alias is ignored (will always use 0). Therefor we should use the slave config and use ecrt_slave_config_sdo

https://gitlab.com/etherlab.org/ethercat/-/issues/110

yguel commented 2 months ago

Thanks for the report, I will fix the code according to your suggestion.

JensVanhooydonck commented 1 month ago

I have a working example on my branch.. But hard to create a PR because I currently have a lot of changes on the same branch. In the commit are also auto-formatting changes: https://github.com/JensVanhooydonck/ethercat_driver_ros2/commit/a75b5cf358afb9c2a5b63de48ecf4e358bf72c1e

I did add a few things:

Added Alias And Position to the slave config object (so we can match aftwerwards when setting the SDO) Slave Config Creation of Slave Config
Altered the configSlaveSdo