Closed chinaheyu closed 3 weeks ago
I noticed that only cyclic_position_mode and cyclic_velocity_mode are provided by Cia402 Driver, but cyclic_torque_mode seems to be missing.
cyclic_position_mode
cyclic_velocity_mode
cyclic_torque_mode
I found some relevant code, but Cyclic_Synchronous_Torque is not used at all.
Cyclic_Synchronous_Torque
https://github.com/ros-industrial/ros2_canopen/blob/e6db3cf2129fd03abbcb56c6a063b92184949a06/canopen_402_driver/include/canopen_402_driver/base.hpp#L49
Controlling the torque is important to us. It would be appreciated if anyone tell us how to address this.
See PR #293
I noticed that only
cyclic_position_mode
andcyclic_velocity_mode
are provided by Cia402 Driver, butcyclic_torque_mode
seems to be missing.I found some relevant code, but
Cyclic_Synchronous_Torque
is not used at all.https://github.com/ros-industrial/ros2_canopen/blob/e6db3cf2129fd03abbcb56c6a063b92184949a06/canopen_402_driver/include/canopen_402_driver/base.hpp#L49
Controlling the torque is important to us. It would be appreciated if anyone tell us how to address this.