millejade
commented
4 months ago For additional info:
This is my bus.yml:
# General options especially dcf_path
options:
dcf_path: "@BUS_CONFIG_PATH@"
# The configuration of the master
master:
node_id: 2
driver: "ros2_canopen::MasterDriver"
package: "canopen_master_driver"
sync_period: 20000 # The SYNC interval in μs (default: 0)
# Defaults that apply to all slave nodes
defaults:
driver: "ros2_canopen::Cia402Driver"
package: "canopen_402_driver"
polling: true
# Configurations for all slave nodes
nodes:
dev:
dcf: "dev.dcf"
node_id: 1And this is my launch file:
dev_canopen.launch.py
def generate_launch_description():
ld = LaunchDescription()
device_container = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
os.path.join(get_package_share_directory("canopen_core"), "launch"),
"/canopen.launch.py",
]
),
launch_arguments={
"master_config": os.path.join(
get_package_share_directory("dev_canopen"),
"config",
"cia402",
"master.dcf",
),
"master_bin": os.path.join(
get_package_share_directory("dev_canopen"),
"config",
"cia402",
"master.bin",
),
"bus_config": os.path.join(
get_package_share_directory("dev_canopen"),
"config",
"cia402",
"bus.yml",
),
"can_interface_name": "can0",
}.items(),
)
ld.add_action(device_container)
return ld
hellantos
Bug I'm trying to use the velocity mode but I'm not sure if I'm doing it right. Position Mode is working well. If I'm doing it right, where I should focus to fix this issue on my end?
Logs This is the full logs on the
ros2 launchterminalSetup:
Additional context So what I did was:
1. Do the roslaunch
This is my Launch Files:
These are the logs after launching it:
2. Call the Service
/initAfter calling this service, I got this logs from the same terminal:
3. Call the Service to use Velocity Mode
I then called the service for velocity mode and it returns True, check the logs below:
4. Call the Service Target
This service call returns True - check the logs below:
On the other hand, this is the log from the ros2 launch terminal: