How to mix CIA402 Drivers with other Driver types on the same bus.

Hello.

Is it posible to have one io slave (cia401 for example, or my own implememtation) and two cía402 driver slaves on the same bus (can0) with ros2 canpen?. I would like to connect some field sensors to the io slave and control a differential robot vía cia402 drivers via ros2 control and canopen.

I have implemented it without connecting the io slave to the bus (on interface can0), my robot is moving well, but I need some external signals and I want to they were connected to a canopen io slave.

1) My bus.yml

options: dcf_path: "@BUS_CONFIG_PATH@"

master: node_id: 1 driver: "ros2_canopen::MasterDriver" package: "canopen_master_driver" sync_period: 10000

defaults: dcf: "cia402_slave.eds" driver: "ros2_canopen::Cia402Driver" package: "canopen_402_driver" period: 10 revision_number: 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: 1000}
{index: 0x6083, sub_index: 0, value: 2000} 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 3: enabled: false 4: enabled: false 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: 0x607A, sub_index: 0} # target position
  - {index: 0x60FF, sub_index: 0} # target velocity

nodes: left_wheel_joint: node_id: 2 right_wheel_joint: node_id: 3

2) My urdf

<?xml version="1.0"?>

canopen_ros2_control/Cia402System ${bus_config} ${master_config} ${can_interface_name} "${master_bin}" 2 3 -->

Thank you very much.

ros-industrial / ros2_canopen

How to mix CIA402 Drivers with other Driver types on the same bus. #284