How to send data to PDO at once, when there are many mappings in PDO

ros-industrial / ros2_canopen

CANopen driver framework for ROS2

https://ros-industrial.github.io/ros2_canopen/manual/rolling/

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How to send data to PDO at once, when there are many mappings in PDO #184

Closed qfwysw closed 11 months ago

qfwysw commented 12 months ago

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Setup:

Device:
OS: ubuntu 22.04
ROS-Distro: humble
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Additional context Thanks for your great work. I want to know if all the mapped address data in a PDO can be sent all at once(fig1). In your example, it seems that only one index and sub_Index can be corresponding at a time.(fig2)

hellantos commented 11 months ago

If you mean via ros topic, then currently no. The ros topic expects single object data. However, if you can set all data objects within the sync period, it should all be sent out after the next sync.