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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 10 months ago

LudoJ49 commented 10 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 10 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 10 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 4 months ago

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