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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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System of mixed proxy controllers and CiA402 controllers #206

Open gsalinas opened 8 months ago

gsalinas commented 8 months ago

Hi,

Is there currently a way to configure a bus that uses a mixture of ProxyDrivers (or, a custom driver I've written that's derived from a proxy driver) and Cia402Drivers? I have a system with some sensors that use a customized version of a proxy driver and some Cia402 motion devices, and I'm not sure what the intended way to use all of those together would be.

Thank you for all your help!

hellantos commented 8 months ago

If you use the service interface, it should work, though I haven't tested it extensively. ros2 control implementation not support it yet.

jclinton830 commented 8 months ago

This would be a great feature to have. I am currently working on a robot system where there are four motors that support CIA402 and four with CIA302 support only.

@ipa-cmh is it possible to release a basic tutorial on how to do this?

phinners commented 8 months ago

I just came across this question and was wondering if there has been some development in this direction in the meantime? @ipa-cmh @gsalinas @jclinton830

gsalinas commented 8 months ago

For my project, it was easier to add a second physical CAN bus and run one master on can0 with all the 402 devices and a second master on can1 with everything else; obviously that may not be an option for you but good luck!

jclinton830 commented 8 months ago

For our project, we ended up just running all the motor controllers in 301 profile mode and using the proxy controller instead of the cia402 controller. That way we have some sort of consistency.