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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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basic build error with preprocessed_bus.yml ??? #255

Open LudoJ49 opened 8 months ago

LudoJ49 commented 8 months ago

Hi, I'm tyrying to create a master following the datasheet. I have done yml and launch file following the doc

Sans titre

I have the below error. Why is it looking for preprocessed_bus.yml not bus.yml ?

logs:

Starting >>> my_canopen

--- stderr: my_canopen                         

sed: can't read /home/ludo/build/my_canopen/config/myCanOpenBus/preprocessed_bus.yml: No such file or directory

gmake[2]: *** [CMakeFiles/myCanOpenBus.dir/build.make:74: myCanOpenBus] Error 2

gmake[1]: *** [CMakeFiles/Makefile2:165: CMakeFiles/myCanOpenBus.dir/all] Error 2

gmake: *** [Makefile:146: all] Error 2

---

Failed   <<< my_canopen [1.91s, exited with code 2]

Summary: 0 packages finished [2.81s]

  1 package failed: my_canopen

  1 package had stderr output: my_canopen

Setup:

ipa-vsp commented 8 months ago

Hey @LudoJ49,

it seems like there's an issue with your 'bus.yml' file. Could you please share the contents of that file?

The preprocessed yml file is generated from the bus.yml.

LudoJ49 commented 8 months ago

after renaming my bus directory, it seems to woek.

But I have another issue.

Where is that 1F85 object comming from ? I don't have it in my ESD file.

it seems the device does not go into operating stage...

Also, why do I have a timeout on 6061 ?

[device_container_node-1] [WARN] [1706640803.740556615] [my_canopen_bus]: Wait for device to boot.
[device_container_node-1] [ERROR] [1706640804.761704919] [my_canopen_bus]: Boot Issue: Value of object 1018:01 from CANopen device is different to value in object 1F85 (Vendor-ID).
[device_container_node-1] [INFO] [1706640804.761780391] [my_canopen_bus]: Driver booted and ready.
[device_container_node-1] [INFO] [1706640804.764332542] [my_canopen_bus]: Starting with event mode.
[device_container_node-1] sync_sdo_read_typed: id=4 index=0x6061 subindex=0 timed out.
hellantos commented 2 months ago

This is because the object 1018 in eds and objct 1018 of your device on the bus are not the same.