Hi,

I have been using Kacanopen ("easy-to-use CANopen stack") for communicating between ROS and two motors for several months without any major issue.

Recently I have had SDO (Service Data Object) errors, but this is really out of my domain of expertise and I don't know how to debug this.

The error I have:

ERROR: Exception in JointStatePublisher::publish(): SDO Error: Timeout while waiting for response. Device::getentryvia_sdo() device 2 failed after 1 repeats. Last error: SDO Error: Timeout while waiting for response. Timeout was 2000 ms.

Any input on where do SDO errors usually come from ?

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My platform: Ubuntu 16.04 ROS Kinetic

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Ressources:

• https://github.com/KITmedical/kacanopen
• http://wiki.ros.org/kacanopen