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ezWheelSAS / swd_ros_controllers

ROS nodes to control motors powered by the ez-Wheel Safety Wheel Drive (SWD®) technology.
https://www.ez-wheel.com/
GNU Lesser General Public License v2.1
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CAN ID is not written with Commissioning of ROS1 #28

Closed suguruhamada1003910 closed 2 years ago

suguruhamada1003910 commented 2 years ago

When I write command as below, I can see CAN ID with 710.

swd_sk@C-Latitude-7280:~$ candump can0 | grep 7
  can0  710   [1]  7F
  can0  701   [1]  05
  can0  710   [1]  7F
  can0  701   [1]  05
  can0  710   [1]  7F
  can0  701   [1]  05
  can0  710   [1]  7F
  can0  701   [1]  05
  can0  710   [1]  7F
  can0  701   [1]  05

Therefore, I think I need to do commissioning. However, CAN ID is not changed after commissioning. Is the following result of commissioning is success or fail?

swd_sk@C-Latitude-7280:/opt/ezw/commissioning$ python3 swd_left_4_commissioning.py 
SYSTEMCTL_dbus.id detected
create_dbus_clients(swd_left) : OK
SRDOParameters(valid=True, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=287, can_id2=288)
SRDOParameters(valid=True, sct=25, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=259, can_id2=260)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=261, can_id2=262)
SRDOParameters(valid=False, sct=25, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=263, can_id2=264)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=265, can_id2=266)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=267, can_id2=268)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=269, can_id2=270)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=271, can_id2=272)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=273, can_id2=274)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=275, can_id2=276)

Files of commissioning I'm using is below. commissioning.zip

ez-Support commented 2 years ago

See https://github.com/ezWheelSAS/swd_ros_controllers/issues/27#issuecomment-1192225799

suguruhamada1003910 commented 2 years ago

See #27 (comment)

Thank you for reply. I already checked #27 and do that. However, CAN ID is not changed. When commissioning succeeds, what is displayed?

ez-Support commented 2 years ago

I don't understand why line 111 you have return 0, before all updates. Thus, your are not doing any commissioning.

ez-Support commented 2 years ago

It displays OK, after each successfull step

suguruhamada1003910 commented 2 years ago

It displays OK, after each successfull step

Thank you for reply! I changed files to v1.0.0 and commissioning was success! ("Commissioning succeeded !" is displayed.)

Please close this.