Closed 15906185391 closed 4 months ago
你用的是虚拟can和虚拟的两个从机 所以不动
你用的是虚拟can和虚拟的两个从机 所以不动
Yes, I am using a virtual CAN interface. When I check the status of the joints, the virtual CAN interface is theoretically working fine. But currently ROS2_CANOPEN and ROS2_diff_controller are working fine respectively, but the state and command interface are duplicated and configured. As the terminal output said "This can happen due to multiple calls to 'configure'".
I am still trying to solve this problem but I can not configure it properly.
Thanks for your reply!
Describe the problems Hi,
I'm a student and I'm trying to use diff_drive_controller with ros2_canopen, I followed the tutorials about ros2_canopen and ros2_control, I referenced the config files the sample program from github.
Problem: When I run the program, ros2 diff_drive_controller and ros2_canoepn work fine respectively. When I call
the robot in rviz turned normally, but wheels that ros2_canopen drives are not turning. Some of the files are not configured correctly, but I don't know how to configure them correctly.
the terminal output is
Here are my config files.
diffbot.launch.py
diffbot.urdf.xacro
diffbot.ros2_control.xacro
diffbot_controllers.yaml
bus.yml
The full output is:
The topics are:
The services are:
Environment :
I tried many times but I can not config it correctly. Could you please help me?