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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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Configure homing timeout #196

Open lucasmluza opened 1 year ago

lucasmluza commented 1 year ago

I'm working in a project in which the homing procedure for a specific joint takes longer than 10 seconds. It then generates an error when executing the package, as the function that manages the homing has a fixed timeout (finish_time) of 10 seconds.

For reference, the timeout is hard coded here:

https://github.com/ros-industrial/ros2_canopen/blob/faca7297438bef5d7a986122959988d16a567246/canopen_402_driver/src/default_homing_mode.cpp#L89-L92

Considering that each joint can have a different timeout to be specified, it would be very interesting to expose this finish_time as a parameter in the bus configuration file.

hellantos commented 1 year ago

@lucasmluza I will see how we can do that. I would make it an optional parameter where the default would be 10s.

lucasmluza commented 12 months ago

@ipa-cmh, thank you for your attention.