search

ros-industrial / ros_canopen

CANopen driver framework for ROS (http://wiki.ros.org/ros_canopen)
GNU Lesser General Public License v3.0
332 stars 270 forks source link

Documentation + support for inclinometers using ros_canopen #416

Closed fmg-shehan closed 2 years ago

fmg-shehan commented 3 years ago

Hi everyone, I'm looking for clear documentation on using ros-canopen and would like to know if anyone has any links.

And I'm also trying to understand if this supports inclinometers using DS410 profile?

ATTN: @ipa-mdl (Seeing as you've contributed to this repo recently)

Thanks everyone!

BenArtes commented 3 years ago

At the profile level it implements only DS402 Motor Control. For debug purposes arbitrary Object Dictionary entries can be read from and published on topics and written to using canopen_chain_node. This is very straightforward if you're trying to access custom ODEs in motor control nodes as you just need to make sure the EDS describes the ODEs and then edit the can_config.yaml rosparams and have the nodes publish with the publish tag.

If you need non-motor simple CANopen support without any Motors (Just using the debug messaging / topics from canopen_chain_node), it is still pretty straight forward because you can basically just launch a canopen_chain_node instead of a canopen_motor_node and have the nodes publish with the publish tag.

If you need non-motor simple CANopen support WITH Motors, you'll need to use multiple processes and external sync as @ipa-mdl referenced in my original question about Generic Profile support.

If you need complex profile support, more akin to how motors are integrated with ros_control you'll need to extend ros_canopen using the pluginlib support yourself. I haven't found any examples of this, nor have I implemented it myself, but once you're reasonably familiar with the ros_canopen source, it should look straightforward; try to replicate canopen_motor_node for your own profile.

fmg-shehan commented 2 years ago

Hi @BenArtes thanks for your reply. This answered part of my question and I look into the material in more detail.