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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_chain_node reads both SDO and PDO for an object, confusing... #384

Closed bxc237 closed 4 years ago

bxc237 commented 4 years ago

Hi, I am trying to use canopen_chain_node to read a DS406 encoder, I have already configured the object [6004] (position value) to be mapped to PDO [1A00sub1], and after I run the canopen_chain_node and call /driver/init, canopen_chain_node starts publishing [6004] topic on the desired frequency, all looks good...However, when I use the command line to show what the data encoder really sends to me when I run canopen_chain_node, I find that it sends both SDO and PDO data... Screenshot from 2020-03-26 10-46-59 620, 5A0 are SDO data; 1A0, 2A0 are PDO data (this is weird too since I only map one PDO)...This is my eds file and yaml for canopen_chain_node configure. I will be really appreciated if anyone can help me solve this issue. Thanks!

encode.yaml.txt encode.eds.txt

bxc237 commented 4 years ago

It looks like answers.ros is a better place to ask this kind of question, move the question there... https://answers.ros.org/question/347998/canopen_chain_node-reads-both-sdo-and-pdo-for-an-object-confusing/