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ros-industrial / ros2_canopen

CANopen driver framework for ROS2
https://ros-industrial.github.io/ros2_canopen/manual/rolling/
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cyclic_torque_mode missing in Cia402 Driver? #292

Closed chinaheyu closed 3 weeks ago

chinaheyu commented 1 month 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.

image

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.

hellantos commented 1 month ago

See PR #293