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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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cogen_dcf causing build to fail #232

Open angstrem98 opened 10 months ago

angstrem98 commented 10 months ago

I've tried to implement a simple package, used humble branch, but I'm getting this error during the build:

traceback (most recent call last):
  File "/home/dusan/ros2_ws/install/lely_core_libraries/bin/cogen", line 33, in <module>
    sys.exit(load_entry_point('cogen==0.2.7', 'console_scripts', 'cogen')())
  File "/home/dusan/ros2_ws/install/lely_core_libraries/local/lib/python3.10/dist-packages/cogen/cogen.py", line 59, in main
    nodes[node_name][entry_name] = defaults[entry_name]
TypeError: list indices must be integers or slices, not dict

In bus.yml, if I change:

nodes:
  - joint_1:
      node_id: 2
  - joint_2:
      node_id: 3

to

nodes:
   joint_1:
     node_id: 2
  joint_2:
    node_id: 3

build works, but following error appears on launch: [device_container_node-1] device_container_node: /home/dusan/ros2_ws/build/lely_core_libraries/upstream/src/co/dev.c:710: co_dev_read_dcf: Assertion `dev' failed.

If I don't use default, and just specify all under joint 1:

sed: can't read /home/dusan/ros2_ws/build/my_canopen_config/config/cia402/preprocessed_bus.yml: No such file or directory gmake[2]: *** [CMakeFiles/cia402.dir/build.make:74: cia402] Error 2 gmake[1]: *** [CMakeFiles/Makefile2:165: CMakeFiles/cia402.dir/all] Error 2 gmake: *** [Makefile:146: all] Error 2

hellantos commented 10 months ago

@angstrem98 can you provide the complete bus.yml?

angstrem98 commented 10 months ago 
options:
  dcf_path: "@BUS_CONFIG_PATH@"

master:
  node_id: 0
  package: "canopen_master_driver"
  driver: "ros2_canopen::MasterDriver"
  baudrate: 500
  sync_period: 10000    # us

defaults:
  dcf: "CDF3000.eds"
  driver: "ros2_canopen::Cia402Driver"
  package: "canopen_402_driver"
  period: 10
  velocity_mode: 1
  revision_number: 0x00010000
  heartbeat_producer: 1000 # Heartbeat every 1000 ms
  scale_pos_to_dev : 1.0
  scale_vel_to_dev : 1.0
  scale_pos_from_dev : 1.0
  scale_vel_from_dev : 1.0
  sdo:
    - {index: 0x60C2, sub_index: 1, value: 50} # Set interpolation time for cyclic modes to 50 ms
    - {index: 0x60C2, sub_index: 2, value: -3} # Set base 10-3s
    - {index: 0x6081, sub_index: 0, value: 420}
    - {index: 0x6083, sub_index: 0, value: 800}
    - {index: 0x6060, sub_index: 0, value: 3} # 3 = profile velocity mode
  tpdo: # TPDO needed statusword, actual velocity, actual position, mode of operation
    1:
      enabled: true
      cob_id: "auto"
      transmission: 0x01
      mapping:
        - {index: 0x6041, sub_index: 0} # status word
        - {index: 0x6061, sub_index: 0} # mode of operation display
    2:
      enabled: true
      cob_id: "auto"
      transmission: 0x01
      mapping:
        - {index: 0x6064, sub_index: 0} # position actual value
        - {index: 0x606c, sub_index: 0} # velocity actual position
  rpdo: # RPDO needed controlword, target position, target velocity, mode of operation
    1:
      enabled: true
      cob_id: "auto"
      mapping:
      - {index: 0x6040, sub_index: 0} # controlword
      - {index: 0x6060, sub_index: 0} # mode of operation
    2:
      enabled: true
      cob_id: "auto"
      mapping:
      - {index: 0x60FF, sub_index: 0} # target velocity

nodes:
  joint1:
    node_id: 1

This builds on humble and iron. Current error when launching:

[device_container_node-1] device_container_node: /home/dusan/iron_ws/build/lely_core_libraries/upstream/src/co/dev.c:710: co_dev_read_dcf: Assertion `dev' failed.

I'm sure that my physical CAN network is ok, because I was able to read out some data from drive using SDOs through a python library. Note that I'm trying to do 402 velocity control.

angstrem98 commented 10 months ago

Changed master node id to 5 randomly and a lot of can traffic appeared. Snippet of current errors:

[device_container_node-1] [INFO] [1700945133.423022579] [device_container_node]: Load driver component.
[device_container_node-1] [INFO] [1700945133.423135567] [device_container_node]: Added /joint1 to executor
[device_container_node-1] [ERROR] [1700945133.447088988] [joint1]: Could not polling from config, setting to true.
[device_container_node-1] [ERROR] [1700945133.447274112] [joint1]: Could not read enable diagnostics from config, setting to false.
[device_container_node-1] [INFO] [1700945133.447532745] [joint1]: scale_pos_to_dev_ 1.000000
[device_container_node-1] scale_pos_from_dev_ 1.000000
[device_container_node-1] scale_vel_to_dev_ 1.000000
[device_container_node-1] scale_vel_from_dev_ 1.000000
[device_container_node-1] 
[device_container_node-1] [INFO] [1700945133.449494512] [joint1]: eds file /home/dusan/ros2_ws/install/my_canopen_config/share/my_canopen_config/config/cia402/CDF3000.eds
[device_container_node-1] [INFO] [1700945133.449518593] [joint1]: bin file /home/dusan/ros2_ws/install/my_canopen_config/share/my_canopen_config/config/cia402/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=60ff subindex=0
[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=606c subindex=0
[device_container_node-1] [WARN] [1700945133.486606971] [joint1]: Wait for device to boot.
[device_container_node-1] [ERROR] [1700945133.647628748] [joint1]: Boot Issue: Configuration download failed.
[device_container_node-1] [INFO] [1700945133.647697375] [joint1]: Driver booted and ready.
[device_container_node-1] [INFO] [1700945133.648170464] [joint1]: Starting with polling mode.
[device_container_node-1] [INFO] [1700945134.616780873] [joint1]: Slave 0x1: Switched NMT state to PREOP
angstrem98 commented 10 months ago

Changing tpdo and rpdo numbers in bus.yml solved previous errors, rotor shaft position is being read properly, but I cannot give command to the motor. Pretty much motor driver does not enter operational state, power section is not activated. But both veocity and position are being read by ros.

Also, calling init service produces:

[device_container_node-1] async_sdo_read: id=2 index=0x6502 subindex=0 object does not exist
[device_container_node-1] [ERROR] [1701003076.702080912] [joint1]: 02:6502:00: Object does not exist in the object dictionary (06020000): Object does not exist in the object dictionary
miksiWan commented 8 months ago

Changing tpdo and rpdo numbers in bus.yml solved previous errors, rotor shaft position is being read properly, but I cannot give command to the motor. Pretty much motor driver does not enter operational state, power section is not activated. But both veocity and position are being read by ros.

Also, calling init service produces:

[device_container_node-1] async_sdo_read: id=2 index=0x6502 subindex=0 object does not exist
[device_container_node-1] [ERROR] [1701003076.702080912] [joint1]: 02:6502:00: Object does not exist in the object dictionary (06020000): Object does not exist in the object dictionary

I'm having the same problem. There is nothing for address 0x6502 (Supported Drive Modes) in the my EDS file. Is there any progress on this issue?