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ros-industrial / ros_canopen

CANopen driver framework for ROS (http://wiki.ros.org/ros_canopen)
GNU Lesser General Public License v3.0
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SimpleSyncLayer does not handle overflow sync counter #348

Closed benmaidel closed 5 years ago

benmaidel commented 5 years ago

Setting the overflow param to any value between 0 and 240 should result into a counter value inside the sync frame. The external sync (bcm_sync) is doing it correctly but the internal sync (SimpleSyncLayer) is not.

relevant code section: https://github.com/ros-industrial/ros_canopen/blob/melodic-devel/canopen_master/src/master_plugin.cpp#L53

mathias-luedtke commented 5 years ago

Setting the overflow param to any value between 0 and 240 should result into a counter value inside the sync frame.

Actually, between 2 and 240. 0 (default) deactivates the counter, 1 is reserved.