How to work with Heartbeat

[ghanim-mukhtar]

Describe the question I am using the library on an Embedded onboard PC the problem is if I send a non-zero command to my motors and for one reason or other the ROS application is shut down the robot keep moving with this command, very risky business.

So I want to set the motors (the slaves) to be consumers of a Heartbeat, the supplier already showed me how to activate it on their controllers so that is done. Now I need my master to send it.

I started following the exercise here with the virtual CAN to have a prove of concept. So I focused on the Service Interface with ros2 launch canopen_tests cia402_setup.launch.py and did the following:

• In ros2_canopen/canopen_tests/config/cia402/bus.yml set the master heartbeat to 1000 ms

  master:
  node_id: 1
  driver: "ros2_canopen::MasterDriver"
  package: "canopen_master_driver"
  sync_period: 10000
  heartbeat_producer: 1000

  Which according to here should have the service: ~/set_heartbeat

• Same file, set the slaves to be heartbeat consumers:

  defaults:
  dcf: "cia402_slave.eds"
  driver: "ros2_canopen::Cia402Driver"
  package: "canopen_402_driver"
  period: 10
  revision_number: 0
  heartbeat_consumer: true

  Which according to here After that I checked:

• Running nodes:

  $ ros2 node list
  /cia402_node_1
  /launch_ros_204171

• Status of /cia402_node_1:

  
  $ ros2 service call /cia402_node_1/get_state lifecycle_msgs/srv/GetState
  requester: making request: lifecycle_msgs.srv.GetState_Request()

response: lifecycle_msgs.srv.GetState_Response(current_state=lifecycle_msgs.msg.State(id=3, label='active'))

- Final the node info to see if I have the service `~/set_heartbeat` there:

$ ros2 node info /cia402_node_1 /cia402_node_1 Subscribers: /parameter_events: rcl_interfaces/msg/ParameterEvent Publishers: /cia402_node_1/transition_event: lifecycle_msgs/msg/TransitionEvent /parameter_events: rcl_interfaces/msg/ParameterEvent /rosout: rcl_interfaces/msg/Log Service Servers: /cia402_node_1/change_state: lifecycle_msgs/srv/ChangeState /cia402_node_1/describe_parameters: rcl_interfaces/srv/DescribeParameters /cia402_node_1/get_available_states: lifecycle_msgs/srv/GetAvailableStates /cia402_node_1/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions /cia402_node_1/get_parameter_types: rcl_interfaces/srv/GetParameterTypes /cia402_node_1/get_parameters: rcl_interfaces/srv/GetParameters /cia402_node_1/get_state: lifecycle_msgs/srv/GetState /cia402_node_1/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions /cia402_node_1/list_parameters: rcl_interfaces/srv/ListParameters /cia402_node_1/set_parameters: rcl_interfaces/srv/SetParameters /cia402_node_1/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically Service Clients:

Action Servers:

Action Clients:

So we can see there no heartbeat service nor in the can trace, What I am missing here ? I expected the presence of the service and a continuous can trace every second, did I misunderstood that ?

**Logs**
- Launch log of `cia402_setup.launch.py`: 
[cia402_setup_launch_output.txt](https://github.com/ros-industrial/ros2_canopen/files/15435018/cia402_setup_launch_output.txt)

- Candump of vcan0: 
[candump_vcan0.txt](https://github.com/ros-industrial/ros2_canopen/files/15435021/candump_vcan0.txt)

**Setup:**
 - Device: EAC-3000 with processor: ARMv8 Processor rev 0 (v8l) × 8
 - OS: Native is: Ubuntu 20.04.5 LTS, but the application running on Docker container based on ros:humble-ros-base-jammy 
 - ROS-Distro: humble
 - Branch/Commit: humble

**Additional context**
I tried to look up the code on my side and I was surprised to see that in neither:

-  `canopen_master_driver/include/canopen_master_driver/node_interfaces/node_canopen_basic_master.hpp` [here](https://github.com/ros-industrial/ros2_canopen/blob/humble/canopen_master_driver/include/canopen_master_driver/node_interfaces/node_canopen_basic_master.hpp), nor
- `canopen_master_driver/include/canopen_master_driver/node_interfaces/node_canopen_basic_master_impl.hpp` [here](https://github.com/ros-industrial/ros2_canopen/blob/humble/canopen_master_driver/include/canopen_master_driver/node_interfaces/node_canopen_basic_master_impl.hpp)
There is no use of `canopen_interfaces/srv/co_heartbeat_id.hpp`, and I even look through the whole repos and it is not used anywhere. I mean it is defined and built as we can see in `canopen_interface` [here](https://github.com/ros-industrial/ros2_canopen/blob/humble/canopen_interfaces/srv/COHeartbeatID.srv) but not used afterwards.

Does this mean that I need to write the service myself?