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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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add configurable homing timeout #442

Open sgermanserrano opened 2 years ago

sgermanserrano commented 2 years ago

Enables to have a configurable homing timeout for slower joints, e.g.

defaults: # optional, all defaults can be overwritten per node
  eds_pkg: my_config_package # optional package  name for relative path
  eds_file: "my_config.dcf" # path to EDS/DCF file
  motor_layer:
    homing_timeout: 60
  dcf_overlay: # "ObjectID": "ParameterValue" (both as strings)
    "1016sub1" : "0x7F0064" # heartbeat timeout of 100 ms for master at 127
    "1017": "100" # heartbeat producer

It defaults to 10s to keep the original behaviour

Signed-off-by: Servando German Serrano servando.german.serrano@gmail.com

ivan140 commented 2 years ago

Any updates or help needed on this pull request? I've tested it on a super slow joint and the homing was working really good, so looking forward for a merge :)

amilcarlucas commented 1 year ago

Ping. Please merge