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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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Can Fake Slaves Used in Examples be Operated in Velocity Mode? #195

Closed Fionn-OMuiri closed 10 months ago

Fionn-OMuiri commented 10 months ago

Question Hi there. I'm just wondering if the fake slave nodes used in the ROS2 CANOpen examples can be operated in velocity mode, or if they are just setup to run in position mode at the minute?

Thanks

hellantos commented 10 months ago

Currently, only profiled, cyclic and interpolated position mode are supported. Adding Velocity mode would not be a big issue if you are okay with simple mirroring of values. If you need more such as modeling Acceleration or profile, then it is more work.

Fionn-OMuiri commented 10 months ago

Okay that's perfect, thanks very much