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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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Difference between Launch file behaviors #171

Closed NB-ENG23 closed 4 months ago

NB-ENG23 commented 1 year ago

Difference between Launch file behaviors

Are the different behaviors between the test launch files cia402_setup.launch.py and proxy_setup.launch.py (i.e., the canopen messages that I get when I run the candump command)  based only on the EDS, which is responsible for triigireng-specific functions, or is there another high-level code responsible for these behaviors ?

For cia402_setup.launch.py vcan0 080 [0] vcan0 182 [3] 40 00 00 vcan0 282 [8] 00 00 00 00 00 00 00 00 vcan0 202 [3] 00 01 00 vcan0 080 [0]

For proxy_setup.launch.py vcan0 080 [0] vcan0 182 [3] 40 00 00 vcan0 282 [8] 00 00 00 00 00 00 00 00 vcan0 202 [3] 00 01 00 vcan0 080 [0]

hellantos commented 1 year ago

The bus.yml file is responsible for defining the behavior and which eds and driver to use for each device. Please read the documentation, especially the part on configuration.

NB-ENG23 commented 1 year ago

Yes, this is clear. Thank you for your answer. But, I was talking about the types of messages and their behavior in responding to such specific messages as SYNC messages, and I found out that they are related to EDS content: PDOs Communication Parameters.