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ros-industrial / ros2_canopen

CANopen driver framework for ROS2
https://ros-industrial.github.io/ros2_canopen/manual/rolling/
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joint added twice in robot_system #167

Closed Vidicon closed 11 months ago

Vidicon commented 1 year ago

I have notiched that i get:

[ros2_control_node-1] [WARN] [1688461841.839265149] [resource_manager]: (hardware 'myrobot'): 'joint1/position' state interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-1] [WARN] [1688461841.839275319] [resource_manager]: (hardware 'myrobot'): 'joint1/velocity' state interface already in available list. This can happen due to multiple calls to 'configure'

looking thru the code i see:

      if (data.init_data(joint, config.dump_device(joint.parameters["device_name"])))
      {
        robot_motor_data_.push_back(data);
      }
      {
        robot_motor_data_.push_back(data);
      }

in https://github.com/ros-industrial/ros2_canopen/blob/faca7297438bef5d7a986122959988d16a567246/canopen_ros2_control/src/robot_system.cpp#L99