Boot issues

[janknipschild]

Describe the bug I keep encountering boot issues. It seems that I cannot read the vendor ID. Wireshark shows that the SDO transmission is aborted ("command specifier unknown"). I also have to manually reset the node by sending the nmt message via cansend can0 000#8105 to get a boot up message. Is there a configuration error? The services sdo_read and sdo_write are working.

Logs

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: /home/entwicklung/ws_ros/install/robot_ros2_canopen/share/robot_ros2_canopen/config/robot_bus/bus.yml
[INFO] [launch.user]: /home/entwicklung/ws_ros/install/robot_ros2_canopen/share/robot_ros2_canopen/config/robot_bus/master.dcf
[INFO] [launch.user]: /home/entwicklung/ws_ros/install/robot_ros2_canopen/share/robot_ros2_canopen/config/robot_bus/master.bin
[INFO] [launch.user]: can0
[INFO] [device_container_node-1]: process started with pid [63203]
[device_container_node-1] [INFO] [1695375612.787080333] [device_container_node]: Starting Device Container with:
[device_container_node-1] [INFO] [1695375612.787124750] [device_container_node]:         master_config /home/entwicklung/ws_ros/install/robot_ros2_canopen/share/robot_ros2_canopen/config/robot_bus/master.dcf
[device_container_node-1] [INFO] [1695375612.787128995] [device_container_node]:         bus_config /home/entwicklung/ws_ros/install/robot_ros2_canopen/share/robot_ros2_canopen/config/robot_bus/bus.yml
[device_container_node-1] [INFO] [1695375612.787133040] [device_container_node]:         can_interface_name can0
[device_container_node-1] [INFO] [1695375612.787512256] [device_container_node]: Loading Master Configuration.
[device_container_node-1] [INFO] [1695375612.787748421] [device_container_node]: Load Library: /home/entwicklung/ws_ros/install/canopen_master_driver/lib/libmaster_driver.so
[device_container_node-1] [INFO] [1695375612.789307070] [device_container_node]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::MasterDriver>
[device_container_node-1] [INFO] [1695375612.789315602] [device_container_node]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::MasterDriver>
[device_container_node-1] [INFO] [1695375612.790683164] [master]: NodeCanopenBasicMaster
[device_container_node-1] [INFO] [1695375612.790749669] [device_container_node]: Load master component.
[device_container_node-1] [INFO] [1695375612.790784572] [device_container_node]: Added /master to executor
[device_container_node-1] [INFO] [1695375612.799862776] [device_container_node]: Loading Driver Configuration.
[device_container_node-1] [INFO] [1695375612.799896859] [device_container_node]: Found device joint1 with driver ros2_canopen::ProxyDriver
[device_container_node-1] [INFO] [1695375612.800013739] [device_container_node]: Load Library: /home/entwicklung/ws_ros/install/canopen_proxy_driver/lib/libproxy_driver.so
[device_container_node-1] [INFO] [1695375612.802487164] [device_container_node]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::ProxyDriver>
[device_container_node-1] [INFO] [1695375612.802496293] [device_container_node]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::ProxyDriver>
[device_container_node-1] [INFO] [1695375612.803973021] [device_container_node]: Load driver component.
[device_container_node-1] [INFO] [1695375612.804016301] [device_container_node]: Added /joint1 to executor
[device_container_node-1] [ERROR] [1695375612.807274262] [joint1]: Could not read enable diagnostics from config, setting to false.
[device_container_node-1] [INFO] [1695375612.807999197] [joint1]: eds file /home/entwicklung/ws_ros/install/robot_ros2_canopen/share/robot_ros2_canopen/config/robot_bus/C5-E-2-09_auto_allign.eds
[device_container_node-1] [INFO] [1695375612.808009908] [joint1]: bin file /home/entwicklung/ws_ros/install/robot_ros2_canopen/share/robot_ros2_canopen/config/robot_bus/joint1.bin
[device_container_node-1] Found rpdo mapped object: index=6040 subindex=0
[device_container_node-1] Found rpdo mapped object: index=6060 subindex=0
[device_container_node-1] Found rpdo mapped object: index=3202 subindex=0
[device_container_node-1] Found rpdo mapped object: index=607a subindex=0
[device_container_node-1] Found rpdo mapped object: index=6081 subindex=0
[device_container_node-1] Found rpdo mapped object: index=6042 subindex=0
[device_container_node-1] Found rpdo mapped object: index=60fe subindex=1
[device_container_node-1] Found tpdo mapped object: index=6041 subindex=0
[device_container_node-1] Found tpdo mapped object: index=6061 subindex=0
[device_container_node-1] Found tpdo mapped object: index=6064 subindex=0
[device_container_node-1] Found tpdo mapped object: index=6044 subindex=0
[device_container_node-1] Found tpdo mapped object: index=60fd subindex=0
[device_container_node-1] Found tpdo mapped object: index=2039 subindex=2
[device_container_node-1] [WARN] [1695375612.814792347] [joint1]: Wait for device to boot.
[device_container_node-1] [ERROR] [1695375616.288240291] [joint1]: Boot Issue: Value of object 1018:01 from CANopen device is different to value in object 1F85 (Vendor-ID).
[device_container_node-1] [INFO] [1695375616.288368819] [joint1]: Driver booted and ready[device_container_node-1] [INFO] [1695375616.288929608] [joint1]: Starting with event mode.

wireshark log

No.     Time           Protocol Length ID         Data       Info
      1 0.000000000    CAN      32     1802 (0x70a) 00         ID: 1802 (0x70a), Length: 1

Frame 1: 32 bytes on wire (256 bits), 32 bytes captured (256 bits) on interface can0, id 0
Linux cooked capture v1
Controller Area Network, ID: 1802 (0x70a), Length: 1
Data (1 byte)

0000  00                                                .

No.     Time           Protocol Length ID         Data       Info
      2 3.278168975    AUTOSAR NM 32     0 (0x000)             NM (CBV: 0x82, SNI: 0x05)

Frame 2: 32 bytes on wire (256 bits), 32 bytes captured (256 bits) on interface can0, id 0
Linux cooked capture v1
Controller Area Network, ID: 0 (0x0), Length: 2
AUTOSAR Network Management, Control Bit Vector: 0x82, Source Node: 5

No.     Time           Protocol Length ID         Data       Info
      3 -64421.382583375 CAN      32     1797 (0x705) 00         ID: 1797 (0x705), Length: 1

Frame 3: 32 bytes on wire (256 bits), 32 bytes captured (256 bits) on interface can0, id 0
Linux cooked capture v1
Controller Area Network, ID: 1797 (0x705), Length: 1
Data (1 byte)

0000  00                                                .

No.     Time           Protocol Length ID         Data       Info
      4 3.386003582    CAN      32     1541 (0x605) 4000100000000000 ID: 1541 (0x605), Length: 8

Frame 4: 32 bytes on wire (256 bits), 32 bytes captured (256 bits) on interface can0, id 0
Linux cooked capture v1
Controller Area Network, ID: 1541 (0x605), Length: 8
Data (8 bytes)

0000  40 00 10 00 00 00 00 00                           @.......

No.     Time           Protocol Length ID         Data       Info
      5 -64421.380512375 CAN      32     1413 (0x585) 4300100092010600 ID: 1413 (0x585), Length: 8

Frame 5: 32 bytes on wire (256 bits), 32 bytes captured (256 bits) on interface can0, id 0
Linux cooked capture v1
Controller Area Network, ID: 1413 (0x585), Length: 8
Data (8 bytes)

0000  43 00 10 00 92 01 06 00                           C.......

No.     Time           Protocol Length ID         Data       Info
      6 3.488020383    CAN      32     1541 (0x605) 8018100100000405 ID: 1541 (0x605), Length: 8

Frame 6: 32 bytes on wire (256 bits), 32 bytes captured (256 bits) on interface can0, id 0
Linux cooked capture v1
Controller Area Network, ID: 1541 (0x605), Length: 8
Data (8 bytes)

0000  80 18 10 01 00 00 04 05                           ........

Setup:

• OS: Ubuntu 22.04
• ROS-Distro: humble

Additional context bus.yml

options:
  dcf_path: "@BUS_CONFIG_PATH@"
master:
  device: "can0"
  driver: "ros2_canopen::MasterDriver"
  package: "canopen_master_driver"
  node_id: 10
joint1:
  node_id: 5
  dcf: "C5-E-2-09_auto_allign.eds"
  driver: "ros2_canopen::Cia402Driver"
  package: "canopen_402_driver"
  polling: false
  heartbeat_producer: 1000

C5-E-2-09_auto_allign.eds

[FileInfo]
CreatedBy=Nanotec Electronic GmbH & Co. KG
ModifiedBy=Nanotec Electronic GmbH & Co. KG
Description=Motion controller
CreationTime=01:30PM
CreationDate=01-12-2018
ModificationTime=01:30PM
ModificationDate=01-12-2018
FileName=C5-E-2-09.eds
FileVersion=1
FileRevision=1
EDSVersion=4.0

[DeviceInfo]
VendorName=Nanotec Electronic GmbH & Co. KG
VendorNumber=0x26C
ProductName=C5-E-2-09
ProductNumber=0x11
RevisionNumber=0x06720000
OrderCode=na
BaudRate_10=1
BaudRate_20=1
BaudRate_50=1
BaudRate_125=1
BaudRate_250=1
BaudRate_500=1
BaudRate_800=0
BaudRate_1000=1
SimpleBootUpMaster=0
SimpleBootUpSlave=0
Granularity=8
DynamicChannelsSupported=0
CompactPDO=0
GroupMessaging=0
NrOfRXPDO=8
NrOfTXPDO=8
LSS_Supported=0

[DummyUsage]
Dummy0001=0
Dummy0002=1
Dummy0003=1
Dummy0004=1
Dummy0005=1
Dummy0006=1
Dummy0007=1

[Comments]
Lines=0x00

[MandatoryObjects]
SupportedObjects=3
1=0x1000
2=0x1001
3=0x1018

[1000]
ParameterName=Device Type
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x00060192
PDOMapping=0
ObjFlags=1

[1001]
ParameterName=Error Register
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0x00
PDOMapping=1
ObjFlags=1

[1018]
ParameterName=Identity Object
ObjectType=0x9
SubNumber=0x05

[1018sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0x04
PDOMapping=0
ObjFlags=1

[1018sub1]
ParameterName=Vendor-ID
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x0000026C
PDOMapping=0
ObjFlags=1

[1018sub2]
ParameterName=Product code
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x00000011
PDOMapping=0
ObjFlags=1

[1018sub3]
ParameterName=Revision number
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x06720000
PDOMapping=0
ObjFlags=1

[1018sub4]
ParameterName=Serial number
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0
ObjFlags=1

...

[hellantos]

The vendor-id on the device and the one in the eds-file will probably not be the same. Try to read out 0x1018sub1 to check. The master automatically checks this.

[janknipschild]

The vendor-id on the device and the one in the eds-file will probably not be the same. Try to read out 0x1018sub1 to check. The master automatically checks this.

The read out value is the same as in the eds-file:

candump can0 585 [8] 43 18 10 01 6C 02 00 00

eds VendorNumber=0x26C

[hellantos]

Hmm interesting, can you the check in the generated master.dcf (it is in the install/package_name/share/config folder) and search for 0x1F85?

[janknipschild]

Hmm interesting, can you the check in the generated master.dcf (it is in the install/package_name/share/config folder) and search for 0x1F85?

Looks right to me:

[1F85]
ParameterName=Vendor identification
ObjectType=0x08
DataType=0x0007
AccessType=rw
CompactSubObj=127

[1F85Value]
NrOfEntries=1
5=0x0000026C

[janknipschild]

The problem was not with the ros2_canopen package, but with the driver used for the USB-to-CAN adapter. (https://gitlab.com/lely_industries/lely-core/-/issues/173) With the loopback activated the boot process works.

[LudoJ49]

I have the same issue. Can you be more precise on how you fixed it ? thx

[janknipschild]

The loopback is activated during the setup. Assuming that your interface is named can0: sudo ip link set can0 type can bitrate 1000000 loopback on sudo ip link set can0 txqueuelen 1000 sudo ip link set can0 up

[LudoJ49]

thanks. I'll give it a try