CPU: x64
OS: ubuntu22.04
Running cia402_setup.launch.py and canopen_system.launch.py were successful, and cia402_setup.launch.py could successfully control the maxon motor. But wen running cia402_system.launch.py，errors occur, as follows:
[INFO] [launch]: All log files can be found below /home/mark/.ros/log/2024-05-22-18-41-06-891561-mark-Lenovo-G50-70-2862
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [2875]
[INFO] [robot_state_publisher-2]: process started with pid [2877]
[INFO] [spawner-3]: process started with pid [2879]
[INFO] [cia402_slave_node-4]: process started with pid [2881]
[INFO] [spawner-5]: process started with pid [2883]
[INFO] [spawner-6]: process started with pid [2885]
[robot_state_publisher-2] [INFO] [1716374467.806789448] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1716374467.807013062] [robot_state_publisher]: got segment node_1_link
[ros2_control_node-1] [WARN] [1716374467.823446705] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-1] [INFO] [1716374467.824833493] [resource_manager]: Loading hardware 'canopen_test_system'
[ros2_control_node-1] [INFO] [1716374467.873386864] [resource_manager]: Initialize hardware 'canopen_test_system'
CPU: x64 OS: ubuntu22.04 Running cia402_setup.launch.py and canopen_system.launch.py were successful, and cia402_setup.launch.py could successfully control the maxon motor. But wen running cia402_system.launch.py，errors occur, as follows:
`mark@mark-Lenovo-G50-70:~/ros2_canopen_ws$ ros2 launch canopen_tests cia402_system.launch.py
[INFO] [launch]: All log files can be found below /home/mark/.ros/log/2024-05-22-18-41-06-891561-mark-Lenovo-G50-70-2862 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ros2_control_node-1]: process started with pid [2875] [INFO] [robot_state_publisher-2]: process started with pid [2877] [INFO] [spawner-3]: process started with pid [2879] [INFO] [cia402_slave_node-4]: process started with pid [2881] [INFO] [spawner-5]: process started with pid [2883] [INFO] [spawner-6]: process started with pid [2885] [robot_state_publisher-2] [INFO] [1716374467.806789448] [robot_state_publisher]: got segment base_link [robot_state_publisher-2] [INFO] [1716374467.807013062] [robot_state_publisher]: got segment node_1_link [ros2_control_node-1] [WARN] [1716374467.823446705] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. [ros2_control_node-1] [INFO] [1716374467.824833493] [resource_manager]: Loading hardware 'canopen_test_system' [ros2_control_node-1] [INFO] [1716374467.873386864] [resource_manager]: Initialize hardware 'canopen_test_system'
[ros2_control_node-1] [INFO] [1716374467.878810958] [resource_manager]: Successful initialization of hardware 'canopen_test_system' [ros2_control_node-1] [INFO] [1716374467.880627245] [resource_manager]: 'configure' hardware 'canopen_test_system' [INFO] [launch.user]: node 'basic_slave_node' reached the 'inactive' state, 'activating'. [cia402_slave_node-4] [INFO] [1716374467.924919751] [cia402_node_1]: Reaching inactive state. [cia402_slave_node-4] [INFO] [1716374467.931307377] [cia402_node_1]: Reaching active state. [ros2_control_node-1] [INFO] [1716374467.958414478] [device_container]: Starting Device Container with: [ros2_control_node-1] [INFO] [1716374467.959604763] [device_container]: can_interface_name can0 [ros2_control_node-1] [INFO] [1716374467.960649790] [device_container]: master_config /home/mark/ros2_canopen_ws/install/canopen_tests/share/canopen_tests/config/cia402_system/master.dcf [ros2_control_node-1] [INFO] [1716374467.962541542] [device_container]: bus_config /home/mark/ros2_canopen_ws/install/canopen_tests/share/canopen_tests/config/cia402_system/bus.yml [ros2_control_node-1] [INFO] [1716374467.975675922] [device_container]: Loading Master Configuration. [ros2_control_node-1] [INFO] [1716374467.977076301] [device_container]: Load Library: /home/mark/ros2_canopen_ws/install/canopen_master_driver/lib/libmaster_driver.so [cia402_slave_node-4] [INFO] [1716374467.977351393] [cia402_node_1]: Created cia402 slave for node_id 2. [ros2_control_node-1] [INFO] [1716374467.990688258] [device_container]: Found class: rclcpp_components::NodeFactoryTemplate
[ros2_control_node-1] [INFO] [1716374467.991854645] [device_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate
[ros2_control_node-1] [INFO] [1716374468.041787264] [device_container]: Load master component. [ros2_control_node-1] [INFO] [1716374468.042740473] [device_container]: Added /master to executor [ros2_control_node-1] [INFO] [1716374468.113831757] [device_container]: Loading Driver Configuration. [ros2_control_node-1] [INFO] [1716374468.115378171] [device_container]: Found device cia402_device_1 with driver ros2_canopen::Cia402Driver [ros2_control_node-1] [INFO] [1716374468.117565439] [device_container]: Load Library: /home/mark/ros2_canopen_ws/install/canopen_402_driver/lib/libcia402_driver.so [ros2_control_node-1] [INFO] [1716374468.124242948] [device_container]: Found class: rclcpp_components::NodeFactoryTemplate
[ros2_control_node-1] [INFO] [1716374468.129903720] [device_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate
[ros2_control_node-1] [INFO] [1716374468.188512193] [device_container]: Load driver component.
[ros2_control_node-1] [INFO] [1716374468.188907774] [device_container]: Added /cia402_device_1 to executor
[ros2_control_node-1] [ERROR] [1716374468.293883883] [cia402_device_1]: Could not polling from config, setting to true.
[ros2_control_node-1] [ERROR] [1716374468.294345153] [cia402_device_1]: Could not read enable diagnostics from config, setting to false.
[ros2_control_node-1] [INFO] [1716374468.298497809] [cia402_device_1]: scale_pos_todev 1000.000000
[ros2_control_node-1] scale_pos_fromdev 0.001000
[ros2_control_node-1] scale_vel_todev 1000.000000
[ros2_control_node-1] scale_vel_fromdev 0.001000
[ros2_control_node-1]
[ros2_control_node-1] [INFO] [1716374468.307064640] [cia402_device_1]: eds file /home/mark/ros2_canopen_ws/install/canopen_tests/share/canopen_tests/config/cia402_system/cia402_slave.eds
[ros2_control_node-1] [INFO] [1716374468.308653250] [cia402_device_1]: bin file /home/mark/ros2_canopen_ws/install/canopen_tests/share/canopen_tests/config/cia402_system/cia402_device_1.bin
[ros2_control_node-1] Found rpdo mapped object: index=6040 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=6060 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=607a subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=60ff subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=6040 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=607a subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=6040 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=60ff subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6041 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6061 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6064 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=606c subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6041 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6064 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6041 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=606c subindex=0
[ros2_control_node-1] [INFO] [1716374468.338269477] [cia402_device_1]: Driver booted and ready.
[ros2_control_node-1] [INFO] [1716374468.338962192] [cia402_device_1]: Starting with polling mode.
[ros2_control_node-1] [INFO] [1716374468.340747398] [Cia402System]: Number of registered drivers: '1'
[ros2_control_node-1] [INFO] [1716374468.340897651] [Cia402System]:
[ros2_control_node-1] Registered driver:
[ros2_control_node-1] name: 'cia402_device_1'
[ros2_control_node-1] node_id: '0x1'
[ros2_control_node-1] [INFO] [1716374468.340932421] [device_container]: Initialisation successful.
[ros2_control_node-1] [INFO] [1716374468.341779386] [resource_manager]: 'activate' hardware 'canopen_test_system'
[ros2_control_node-1] [INFO] [1716374468.401111668] [controller_manager]: update rate is 10 Hz [ros2_control_node-1] [INFO] [1716374468.404140872] [controller_manager]: RT kernel is recommended for better performance [ros2_control_node-1] Stack trace (most recent call last) in thread 2923: [ros2_control_node-1] #12 Object "", at 0xffffffffffffffff, in [ros2_control_node-1] #11 Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 81, in clone3 [0x7fc61574084f] [ros2_control_node-1] #10 Source "./nptl/pthread_create.c", line 442, in start_thread [0x7fc6156aeac2] [ros2_control_node-1] #9 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fc61593f252, in [ros2_control_node-1] #8 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55d49d7c7800, in [ros2_control_node-1] #7 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7fc615d4b2d4, in controller_manager::ControllerManager::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-1] #6 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7fc61554f69c, in hardware_interface::ResourceManager::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-1] #5 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7fc61556ce8f, in hardware_interface::System::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-1] #4 Object "/home/mark/ros2_canopen_ws/install/canopen_ros2_control/lib/libcanopen_ros2_control.so", at 0x7fc60e516990, in canopen_ros2_control::Cia402System::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-1] #3 Object "/home/mark/ros2_canopen_ws/install/canopen_ros2_control/lib/libcanopen_ros2_control.so", at 0x7fc60e518331, in ros2_canopen::Cia402Driver::get_position() [ros2_control_node-1] #2 Object "/home/mark/ros2_canopen_ws/install/canopen_ros2_control/lib/libcanopen_ros2_control.so", at 0x7fc60e51869f, in std::shared_ptr_access<ros2_canopen::node_interfaces::NodeCanopen402Driver, (gnu_cxx::_Lock_policy)2, false, false>::operator->() const
[ros2_control_node-1] #1 Object "/home/mark/ros2_canopen_ws/install/canopen_ros2_control/lib/libcanopen_ros2_control.so", at 0x7fc60e518e4b, in std::shared_ptr_access<ros2_canopen::node_interfaces::NodeCanopen402Driver, ( gnu_cxx::_Lock_policy)2, false, false>::_M_get() const
[ros2_control_node-1] #0 Object "/home/mark/ros2_canopen_ws/install/canopen_ros2_control/lib/libcanopen_ros2_control.so", at 0x7fc60e519778, in std::shared_ptr<ros2_canopen::node_interfaces::NodeCanopen402Driver, (__gnu_cxx::_Lock_policy)2>::get() const
[ros2_control_node-1] Segmentation fault (Address not mapped to object [0x398])
[ERROR] [ros2_control_node-1]: process has died [pid 2875, exit code -11, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_xp1m_l60 --params-file /home/mark/ros2_canopen_ws/install/canopen_tests/share/canopen_tests/config/cia402_system/ros2_controllers.yaml'].
[spawner-5] [INFO] [1716374471.143326248] [spawner_cia402_device_1_controller]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1716374471.196226675] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1716374471.204120589] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1716374473.164878841] [spawner_cia402_device_1_controller]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1716374473.218272172] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1716374473.225941939] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1716374475.187450794] [spawner_cia402_device_1_controller]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1716374475.242644860] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1716374475.248075665] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1716374477.209205795] [spawner_cia402_device_1_controller]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1716374477.264908290] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1716374477.269372828] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [ERROR] [1716374479.232329473] [spawner_cia402_device_1_controller]: Controller manager not available
[spawner-3] [ERROR] [1716374479.288245360] [spawner_joint_state_broadcaster]: Controller manager not available
[spawner-6] [ERROR] [1716374479.293613641] [spawner_forward_position_controller]: Controller manager not available
[ERROR] [spawner-5]: process has died [pid 2883, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner cia402_device_1_controller --controller-manager /controller_manager --ros-args'].
[ERROR] [spawner-6]: process has died [pid 2885, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner forward_position_controller --controller-manager /controller_manager --ros-args'].
[ERROR] [spawner-3]: process has died [pid 2879, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args'].`