CANopen connection - Githubissues

Hello, I am trying to connect now my EPOS with an IXXAT CAN-to-USB adapter. http://www.er-soft.com/fabricantes/ixxat/pasarelas-de-comunicacion-industrial/usb-to-can-fd-compact

I can control the motor with the HelloEposCmd.cpp example from Maxon.

I have modify @JimmyDaSilva branch to the CANopen settings:

else{
    if(comm_protocol_ == "CANopen"){
      node_handle_ = epos_factory_->CreateNodeHandle("EPOS", "CANopen", "CAN_ixx_usb 0", serial_number_, &error_code);
      if(!node_handle_) {
        ROS_ERROR("Could not find motor with CANopen");
        return false;
      }
      ROS_INFO_STREAM("Found Motor");
      if(!VCS_SetProtocolStackSettings(node_handle_->device_handle->ptr, 1000000, 500, &error_code)) {
        ROS_ERROR("Failed to SetProtocolStackSettings");
        return false;
      }
    }

But I still having the errors:

[ERROR] [1526481093.586453326]: Could not find motor with CANopen
[ERROR] [1526481093.586487038]: Could not configure motor: my_joint_actuator
[FATAL] [1526481093.586505848]: Failed to initialize motors

As I told before, the CANopen adpater is working, but I don't know if the problem is that is connected as a Ethernet adapter.

jorge@jorge-ubuntu:~$ ifconfig 
can0      Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  
          UP RUNNING NOARP  MTU:16  Metric:1
          RX packets:293 errors:0 dropped:0 overruns:0 frame:0
          TX packets:54 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:10 
          RX bytes:678 (678.0 B)  TX bytes:432 (432.0 B)

Also, for all the connection I have to specify the next parameters:

device name (EPOS)
protocol stack name (CANopen)
interface name (CAN_ixx_usb 0)
port name (CAN0)
baudrate (1000000)

@mitchellwills Could we try to improve the branch from @JimmyDaSilva and add the option for CANopen connection?

Kinds regards, Jorge

RIVeR-Lab / epos_hardware

CANopen connection #24