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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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canopen_402 fails with joint_position_controller #380

Closed juhannc closed 3 years ago

juhannc commented 4 years ago

Hello,

I'm using ros_canopen to controll a motor driver, C5-E from Nanotec, running on ROS kinetic.

I'm launching my code via roslaunch myrobot joint_y.launch and initializing the driver via rosservice call /can/joint_y/driver/init. After initializing, I get an error message in the ROS log which reads Mode handler has error. I can trace it back to canopen_402 L388. However, it's not really descriptive of why it went wrong in the first place.

The error only occurs when I'm using the joint_position_controller. Using the joint_velocity_controller, everything runs just fine.

This is my configuration:

With the corresponding logs:

joint_y.launch

<?xml version="1.0"?>
<launch>
    <arg name="name" value="joint_y" />

    <include file="$(find myrobot)/launch/can/joint.xml">
        <arg name="name" value="$(arg name)" />
    </include>

</launch>

joint.xml

<?xml version="1.0"?>
<launch>
    <arg name="name"/>
    <arg name="timeout" default="180" /> <!-- Timeout (s) for the controller spawners -->

    <!-- drivers -->
    <node ns="$(arg name)" name="driver" pkg="canopen_motor_node" type="canopen_motor_node" output="screen" clear_params="true" launch-prefix="">
        <rosparam command="load" file="$(find myrobot)/cfg/yaml/can/can_conf.yaml" />
        <rosparam command="load" file="$(find myrobot)/cfg/yaml/can/can_$(arg name).yaml" />
        <rosparam command="load" file="$(find myrobot)/cfg/yaml/can/$(arg name)_limits.yaml" />
        <remap from="joint_states" to="/joint_states"/>
    </node>

    <!-- controllers -->
    <rosparam ns="$(arg name)" command="load" file="$(find myrobot)/cfg/yaml/can/$(arg name)_controller.yaml" />

    <node ns="$(arg name)" name="$(arg name)_position_controller_spawner" pkg="controller_manager" type="spawner" args="joint_position_controller --timeout $(arg timeout)" />
    <node ns="$(arg name)" name="$(arg name)_velocity_controller_spawner" pkg="controller_manager" type="spawner" args="--stopped joint_velocity_controller --timeout $(arg timeout)" />
    <node ns="$(arg name)" name="$(arg name)_state_controller_spawner" pkg="controller_manager" type="spawner" args="joint_state_controller" />

    <!-- send urdf to param server -->
    <group ns="$(arg name)">
        <param name="robot_description" command="xacro --inorder '$(find myrobot)/cfg/urdf/myrobot.urdf.xacro'" />
    </group>

    <!-- upload script server parameters -->
    <rosparam command="load" ns="$(arg name)" file="$(find myrobot)/cfg/yaml/can/$(arg name)_configurations.yaml"/>

    <!-- robot state publisher -->
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
        <param name="publish_frequency" type="double" value="50.0" />
        <param name="tf_prefix" type="string" value="" />
    </node>

</launch>

can_conf.yaml

bus:
  device: can0 # socketcan network
  # loopback: false # socket should loop back messages
  # driver_plugin: can::SocketCANInterface
  # master_allocator: canopen::SimpleMaster::Allocator # defaults to canopen::LocalMaster::Allocator
sync:
  interval_ms: 10 # set to 0 to disable sync
  # update_ms: <interval_ms> #update interval of control loop, must be set explecitly if sync is disabled
  overflow: 0 # overflow sync counter at value or do not set it (0, default)
# heartbeat: # simple heartbeat producer, optional!
#   rate: 20 # heartbeat rate
#   msg: "77f#05" # message to send, cansend format: heartbeat of node 127 with status 5=Started

can_joint_y.yaml

# hardware_id: none # used for diagnostics

defaults: # optional, all defaults can be overwritten per node
  ### 301
  eds_pkg: myrobot # optionals package name for relative path
  eds_file: "cfg/eds/C5-E-2-09.eds" # path to EDS/DCF file
  dcf_overlay: # "ObjectID": "ParameterValue" (both as strings)
    "6098": "35" #  homing method (home at current position; see p. 68 of manual)
  #  "1016sub1" : "0x7F0064" # heartbeat timeout of 100 ms for master at 127
    "1017": "1000" # heartbeat producer
    "3202": "65" # BLDC motor in closed loop
  #  "6060": "3"
  ### 402
  motor_allocator: canopen::Motor402::Allocator # select allocator for motor layer plugin
  motor_layer: # settings passed to motor layer (plugin-specific)
    switching_state: 4 # (Switched on), state for mode switching
    monitor_mode: true # read operation mode in every cycle
  ### ROS:
  publish: ["6044!", "6064!", "6077!"] # list of objects to be published (one topic per node and entry), ! diables caching and forces read from device
  ### ros_control: conversion functions
  # pos_to_device: "rint(rad2deg(pos)*1000)" # rad -> mdeg
  # pos_from_device: "deg2rad(obj6064)/1000" # actual position [mdeg] -> rad
  # vel_to_device: "rint(rad2deg(vel)*1000)" # rad/s -> mdeg/s
  # vel_from_device: "deg2rad(obj606C)/1000" # actual velocity [mdeg/s] -> rad/s
  # eff_to_device: "rint(eff)" # just round to integer
  # eff_from_device: "0" # unset

nodes:
  joint_y:
    ### node settings
    id: 9 # node id
    # eds_pkg: myrobot # optionals package  name for relative path
    # eds_file: "cfg/eds/C5-E-2-09.eds" # must be set for array-styled format, defaults to entry name
    # joint: <name> # set motor joint name
    ### defaults will be merged recursively (only structs), node settings have precedence

joint_y_limits.yaml

joint_limits:
    joint_y:
      has_position_limits: true
      min_position: -10000.0
      max_position: 10000.0
      has_velocity_limits: true
      max_velocity: 1.0
      has_acceleration_limits: true
      max_acceleration: 10.0
      has_jerk_limits: true
      max_jerk: 200.0
      has_effort_limits: true
      max_effort: 100.0

joint_y_controller.yaml

joint_position_controller:
  type: position_controllers/JointPositionController
  joint: joint_y
  required_drive_mode: 1
  required_drive_modes:
    joint_y: 1

joint_velocity_controller:
  type: velocity_controllers/JointVelocityController
  joint: joint_y
  required_drive_mode: 3

joint_state_controller:
    type: joint_state_controller/JointStateController
    joints: [joint_y]
    publish_rate: 50

myrobot.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="myrobot">

    <link name="rail">
        <visual>
            <geometry>
                <box size="5.0 0.1 0.1" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0" />
        </visual>
    </link>

    <link name="myrobot">
        <visual>
            <geometry>
                <box size="0.5 0.5 0.2" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0" />
        </visual>
    </link>

    <link name="myrobot_virtual">
        <visual>
            <geometry>
                <box size="0.0 0.0 0.0" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0" />
        </visual>
    </link>

    <link name="tool">
        <visual>
            <geometry>
                <box size="0.1 0.1 0.3" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0" />
        </visual>
    </link>

    <joint name="joint_x" type="prismatic">
        <parent link="rail" />
        <child link="myrobot" />
        <origin rpy="0 0 0" xyz="0 0 0" />
        <axis xyz="1 0 0" />
        <limit lower="-10000" upper="10000" effort="100" velocity="1" />
    </joint>

    <joint name="joint_y" type="prismatic">
        <parent link="myrobot" />
        <child link="myrobot_virtual" />
        <origin rpy="0 0 0" xyz="0 0 0" />
        <axis xyz="0 1 0" />
        <limit lower="-10000" upper="10000" effort="100" velocity="1" />
    </joint>

    <joint name="joint_z" type="prismatic">
        <parent link="myrobot_virtual" />
        <child link="tool" />
        <origin rpy="0 0 0" xyz="0 0 0" />
        <axis xyz="0 0 1" />
        <limit lower="-10000" upper="10000" effort="100" velocity="1" />
    </joint>

</robot>

joint_y_configurations.yaml

joint_names: ["joint_y"]
action_name: /can/joint_y/joint_trajectory_controller/follow_joint_trajectory
service_ns: /can/joint_y/driver
default_vel: 0.3

home: [[0.0]]
up: [[0.0]]
right: [[-1.5708]]
down: [[3.14]]
left: [[1.5708]]
roundtrip: [down,left,up,right]
ticktack: [left,right,left,right]

ROS log

... logging to /home/johannlange/.ros/log/ea543028-54a5-11ea-9401-7c7a9123482b/roslaunch-johann-10404.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://johann:40729/

SUMMARY
========

CLEAR PARAMETERS
 * /can/joint_y/driver/

PARAMETERS
 * /can/joint_y/driver/bus/device: can0
 * /can/joint_y/driver/defaults/dcf_overlay/1017: 1000
 * /can/joint_y/driver/defaults/dcf_overlay/3202: 65
 * /can/joint_y/driver/defaults/dcf_overlay/6098: 35
 * /can/joint_y/driver/defaults/eds_file: cfg/eds/C5-E-2-09...
 * /can/joint_y/driver/defaults/eds_pkg: myrobot
 * /can/joint_y/driver/defaults/motor_allocator: canopen::Motor402...
 * /can/joint_y/driver/defaults/motor_layer/monitor_mode: True
 * /can/joint_y/driver/defaults/motor_layer/switching_state: 4
 * /can/joint_y/driver/defaults/publish: ['6044!', '6064!'...
 * /can/joint_y/driver/joint_limits/joint_y/has_acceleration_limits: True
 * /can/joint_y/driver/joint_limits/joint_y/has_effort_limits: True
 * /can/joint_y/driver/joint_limits/joint_y/has_jerk_limits: True
 * /can/joint_y/driver/joint_limits/joint_y/has_position_limits: True
 * /can/joint_y/driver/joint_limits/joint_y/has_velocity_limits: True
 * /can/joint_y/driver/joint_limits/joint_y/max_acceleration: 10.0
 * /can/joint_y/driver/joint_limits/joint_y/max_effort: 100.0
 * /can/joint_y/driver/joint_limits/joint_y/max_jerk: 200.0
 * /can/joint_y/driver/joint_limits/joint_y/max_position: 10000.0
 * /can/joint_y/driver/joint_limits/joint_y/max_velocity: 1.0
 * /can/joint_y/driver/joint_limits/joint_y/min_position: -10000.0
 * /can/joint_y/driver/nodes/joint_y/id: 9
 * /can/joint_y/driver/sync/interval_ms: 10
 * /can/joint_y/driver/sync/overflow: 0
 * /can/joint_y/joint_position_controller/joint: joint_y
 * /can/joint_y/joint_position_controller/required_drive_mode: 1
 * /can/joint_y/joint_position_controller/required_drive_modes/joint_y: 1
 * /can/joint_y/joint_position_controller/type: position_controll...
 * /can/joint_y/joint_state_controller/joints: ['joint_y']
 * /can/joint_y/joint_state_controller/publish_rate: 50
 * /can/joint_y/joint_state_controller/type: joint_state_contr...
 * /can/joint_y/joint_velocity_controller/joint: joint_y
 * /can/joint_y/joint_velocity_controller/required_drive_mode: 3
 * /can/joint_y/joint_velocity_controller/type: velocity_controll...
 * /can/joint_y/robot_description: <?xml version="1....
 * /can/robot_description: <?xml version="1....
 * /can/robot_state_publisher/publish_frequency: 50.0
 * /can/robot_state_publisher/tf_prefix:
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /can/joint_y/
    driver (canopen_motor_node/canopen_motor_node)
    joint_y_position_controller_spawner (controller_manager/spawner)
    joint_y_state_controller_spawner (controller_manager/spawner)
    joint_y_velocity_controller_spawner (controller_manager/spawner)
  /can/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [10420]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ea543028-54a5-11ea-9401-7c7a9123482b
process[rosout-1]: started with pid [10433]
started core service [/rosout]
process[can/joint_y/driver-2]: started with pid [10456]
process[can/joint_y/joint_y_position_controller_spawner-3]: started with pid [10457]
process[can/joint_y/joint_y_velocity_controller_spawner-4]: started with pid [10462]
process[can/joint_y/joint_y_state_controller_spawner-5]: started with pid [10472]
process[can/robot_state_publisher-6]: started with pid [10473]
[ INFO] [1582288218.192176604]: Using fixed control period: 0.010000000
[WARN] [1582288248.384920]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[can/joint_y/joint_y_state_controller_spawner-5] process has finished cleanly
log file: /home/johannlange/.ros/log/ea543028-54a5-11ea-9401-7c7a9123482b/can-joint_y-joint_y_state_controller_spawner-5*.log
[ INFO] [1582288252.518549569]: Initializing XXX
[ INFO] [1582288252.518790685]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1582288252.518970101]: Current state: 2 device error: system:0 internal_error: 0 (OK)
[ERROR] [1582288253.272918540]: Mode handler has error
[can/robot_state_publisher-6] killing on exit
[can/joint_y/joint_y_velocity_controller_spawner-4] killing on exit
[can/joint_y/joint_y_position_controller_spawner-3] killing on exit
[can/joint_y/driver-2] killing on exit
[WARN] [1582288259.082175]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 104] Connection reset by peer
[WARN] [1582288259.082187]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 104] Connection reset by peer
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

candump

candump ``` can0 000 [2] 82 09 can0 709 [1] 00 can0 609 [8] 2B 17 10 00 E8 03 00 00 can0 589 [8] 60 17 10 00 00 00 00 00 can0 000 [2] 01 09 can0 709 [1] 05 can0 189 [3] 40 A6 01 can0 289 [4] C1 0A 00 00 can0 389 [2] 00 00 can0 080 [0] can0 489 [4] 00 00 00 00 can0 209 [7] 06 01 00 41 00 00 00 can0 189 [3] 21 A6 01 can0 080 [0] can0 080 [0] can0 209 [7] 07 01 00 41 00 00 00 can0 189 [3] 33 A6 01 can0 080 [0] can0 080 [0] can0 209 [7] 0F 01 00 41 00 00 00 can0 189 [3] 33 86 01 can0 080 [0] can0 189 [3] 37 86 01 can0 080 [0] can0 080 [0] can0 209 [7] 07 01 00 41 00 00 00 can0 189 [3] 33 86 01 can0 080 [0] can0 080 [0] can0 209 [7] 07 01 06 41 00 00 00 can0 189 [3] 33 86 06 can0 080 [0] can0 189 [3] 33 96 06 can0 080 [0] can0 209 [7] 0F 01 06 41 00 00 00 can0 189 [3] 37 96 06 can0 080 [0] can0 080 [0] can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 209 [7] 0F 01 00 41 00 00 00 can0 609 [8] 40 01 10 00 00 00 00 00 can0 080 [0] can0 589 [8] 4F 01 10 00 00 00 00 00 can0 609 [8] 2F 03 10 00 00 00 00 00 can0 589 [8] 60 03 10 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 FF FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 FB FF FF FF can0 289 [4] C0 0A 00 00 can0 389 [2] FB FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 289 [4] C1 0A 00 00 can0 389 [2] 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 01 10 00 00 00 00 00 can0 589 [8] 4F 01 10 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 FB FF FF FF can0 289 [4] C0 0A 00 00 can0 389 [2] FB FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 FC FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 02 00 00 00 can0 289 [4] C1 0A 00 00 can0 389 [2] 02 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 389 [2] 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 209 [7] 07 01 00 41 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 FF FF 00 00 can0 189 [3] 33 96 06 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 209 [7] 07 01 01 41 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 189 [3] 33 96 01 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 209 [7] 0F 01 01 41 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 189 [3] 33 86 01 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 189 [3] 37 86 01 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 309 [8] C1 0A 00 00 F4 01 00 00 can0 209 [7] 3F 00 01 41 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 189 [3] 37 92 01 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 209 [7] 2F 00 01 41 00 00 00 can0 289 [4] C0 0A 00 00 can0 080 [0] can0 389 [2] FB FF can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 189 [3] 37 82 01 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 FF FF FF FF can0 389 [2] FD FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 F2 FF 00 00 can0 289 [4] BF 0A 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 FC FF FF FF can0 389 [2] FB FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 289 [4] BE 0A 00 00 can0 589 [8] 4B 77 60 00 F0 FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 F7 FF FF FF can0 389 [2] F6 FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 289 [4] BB 0A 00 00 can0 589 [8] 4B 77 60 00 EC FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 F5 FF FF FF can0 389 [2] F3 FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 289 [4] B7 0A 00 00 can0 589 [8] 4B 77 60 00 DD FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 F1 FF FF FF can0 389 [2] EF FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 289 [4] B2 0A 00 00 can0 589 [8] 4B 77 60 00 D0 FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 EA FF FF FF can0 389 [2] EA FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 289 [4] AA 0A 00 00 can0 589 [8] 4B 77 60 00 C9 FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 E0 FF FF FF can0 389 [2] DE FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 289 [4] A0 0A 00 00 can0 589 [8] 4B 77 60 00 D0 FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 D4 FF FF FF can0 389 [2] D0 FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 289 [4] 91 0A 00 00 can0 589 [8] 4B 77 60 00 EF FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 C7 FF FF FF can0 389 [2] C6 FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 289 [4] 7E 0A 00 00 can0 589 [8] 4B 77 60 00 0D 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 D9 FF FF FF can0 389 [2] E0 FF can0 080 [0] can0 289 [4] 72 0A 00 00 can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 FE FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 F4 FF FF FF can0 389 [2] F5 FF can0 080 [0] can0 289 [4] 6D 0A 00 00 can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 F8 FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 F9 FF FF FF can0 389 [2] FE FF can0 080 [0] can0 289 [4] 6B 0A 00 00 can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 F2 FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 FF FF FF FF can0 389 [2] 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 F8 FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 03 00 00 00 can0 389 [2] 01 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 F1 FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 389 [2] 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 F3 FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 01 00 00 00 can0 389 [2] 01 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 F4 FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 389 [2] 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 F3 FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 F2 FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 FB FF FF FF can0 389 [2] FB FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 F7 FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 03 00 00 00 can0 389 [2] 03 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 ED FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 01 00 00 00 can0 389 [2] 01 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 F4 FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 389 [2] FF FF can0 589 [8] 43 6C 60 00 FD FF FF FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 189 [3] 37 A2 01 can0 589 [8] 4B 77 60 00 EB FF 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 FF FF FF FF can0 389 [2] 00 00 can0 209 [7] 2B 00 01 41 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 F7 FF 00 00 can0 189 [3] 17 A2 01 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 09 00 00 00 can0 289 [4] 6C 0A 00 00 can0 389 [2] 0B 00 can0 209 [7] 2B 01 01 41 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 189 [3] 40 82 01 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 07 00 00 00 can0 289 [4] 70 0A 00 00 can0 389 [2] 03 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 F7 FF FF FF can0 289 [4] 6D 0A 00 00 can0 389 [2] F6 FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 08 00 00 00 can0 289 [4] 6E 0A 00 00 can0 389 [2] 06 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 189 [3] 40 86 01 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 289 [4] 6F 0A 00 00 can0 389 [2] 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 189 [3] 40 82 01 can0 589 [8] 43 6C 60 00 FD FF FF FF can0 289 [4] 6D 0A 00 00 can0 389 [2] FE FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 05 00 00 00 can0 289 [4] 6F 0A 00 00 can0 389 [2] 05 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 FD FF FF FF can0 289 [4] 6E 0A 00 00 can0 389 [2] FD FF can0 189 [3] 40 86 01 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 04 00 00 00 can0 389 [2] 04 00 can0 189 [3] 40 82 01 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 389 [2] 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 189 [3] 40 86 01 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 389 [2] 05 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 189 [3] 40 A6 01 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 389 [2] 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 189 [3] 40 A2 01 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 389 [2] 04 00 can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 189 [3] 40 A6 01 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 389 [2] 00 00 can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 01 00 00 00 can0 189 [3] 40 A2 01 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 FE FF FF FF can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 389 [2] 04 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 189 [3] 40 A6 01 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 389 [2] 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 189 [3] 40 A2 01 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 389 [2] FF FF can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 01 00 00 00 can0 189 [3] 40 A6 01 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 389 [2] 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 02 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 709 [1] 05 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 189 [3] 40 A7 01 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 01 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 02 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 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589 [8] 4B 77 60 00 02 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 01 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 01 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 01 10 00 00 00 00 00 can0 589 [8] 4F 01 10 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] 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080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 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6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 01 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 01 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 02 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 02 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 02 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 01 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 709 [1] 05 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 40 6C 60 00 00 00 00 00 can0 589 [8] 43 6C 60 00 00 00 00 00 can0 080 [0] can0 609 [8] 40 77 60 00 00 00 00 00 can0 589 [8] 4B 77 60 00 00 00 00 00 can0 609 [8] 2B 17 10 00 00 00 00 00 can0 589 [8] 60 17 10 00 00 00 00 00 can0 000 [2] 02 09 can0 709 [1] 04 ```
mathias-luedtke commented 4 years ago

It looks like you did not map the PDOs: http://wiki.ros.org/canopen_402#Overview SDO access (589/609) might be to slow, so the mode handler hits a timeout or some other error condition.

juhannc commented 4 years ago

Thank you for the insight! Mind telling me where I would need to add the PDO mapping and how to do it?

BenArtes commented 4 years ago

Essentially you need to do it manually. (Broadly described here)

Set the relevant PDO Parameter / Mapping registers using the dcf_overlay key. The dcf_overlay is a way to set values of Object Dictionary Entries at initialization. ros_canopen can use the information in the dcf_overlay to figure out what has been mapped into the PDO so that it uses PDOs instead of SDOs.

A quick example is below:


defaults:
  # ...
  dcf_overlay: # This overwrites entries in the EDS / DCF, using it to set acceleration, PIDs, and PDOs
    # RPDO Mappings - From ros_canopen
    "1600sub0": "2" # RPDO1 Mapping Num Entries
    "1400sub2": "1" # RPDO1 Transmission Type
    "1600sub1": "0x60400010" # map Control Word to RPDO1
    "1600sub2": "0x607a0020" # map Target Position to RPDO1
    # TPDO Mappings - To ros_canopen
    "1a00sub0": "3" # TPDO1 Mapping Num Entries
    "1800sub2": "1" # TPDO1 Transmission Type
    "1a00sub1": "0x60410010" # map Status Word to TPDO1
    "1a00sub2": "0x60630020" # map Actual Position to TPDO1
    "1a00sub3": "0x60780010" # map Actual Current to TPDO1
juhannc commented 3 years ago

Sorry, forgot to close the issue.

Basically, I went with KITmedical/kacanopen, as it worked right out of the box.

I think the problem is somehow related to my CAN setup, especially the CAN chip on my master. For some reason, it was way more robust with kacanopen than with ros_canopen.