Hello,

I try to use the canopenmotornode package to run my Technosoft motor drivers (iPOS4808 BX-CAN). I am on Ubuntu 20.04 with ROS noetic

To start, I try with only one driver. However during the initialization phase, this happens:

process[maxon/canopen_motor-1]: started with pid [17497]
process[maxon/global_loc-2]: started with pid [17498]
process[maxon/velocity_controller-3]: started with pid [17499]
[ INFO] [1658754468.440480421]: Using fixed control period: 0.020000000
[ INFO] [1658754470.455133363]: Initializing...
[ INFO] [1658754470.456764586]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1658754470.460616386]: Current state: 2 device error: system:0 internal_error: 0 (OK)
[ INFO] [1658754480.515593384]: Current state: 2 device error: system:125 internal_error: 0 (OK)
[ INFO] [1658754480.515866958]: Current state: 1 device error: system:125 internal_error: 0 (OK)
[ INFO] [1658754480.517361849]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1658754480.517613478]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ INFO] [1658754480.517860294]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ERROR] [1658754480.518793128]: CAN not ready
[ERROR] [1658754480.525331152]: Initializing failed: Transition timeout; Could not enable motor; Transition timeout
[maxon/global_loc-2] process has finished cleanly
log file: /home/ubuntu/.ros/log/b4ce4d60-0c1a-11ed-80ba-45191d1ef4ce/maxon-global_loc-2*.log

So there is a problem. With candump, we can observe the requests made:

can0  000   [2]  82 01                      master:Reset Communication       
can0  701   [1]  7F                         driver: Start
can0  701   [1]  00
can0  601   [8]  2B 17 10 00 14 00 00 00    master:Set heartbeat time 
can0  581   [8]  60 17 10 00 00 00 00 00    driver:response
can0  701   [1]  7F
can0  601   [8]  40 41 60 00 00 00 00 00    master:6041 status word
can0  581   [8]  4B 41 60 00 50 02 00 00
can0  601   [8]  40 61 60 00 00 00 00 00    master:6061 Modes of Operation display
can0  581   [8]  4F 61 60 00 00 00 00 00
can0  601   [8]  40 64 60 00 00 00 00 00    master:6064 Position actual value
can0  581   [8]  43 64 60 00 F3 1B 00 00
can0  601   [8]  40 6C 60 00 00 00 00 00    master:606C Velocity actual value
can0  581   [8]  43 6C 60 00 00 00 00 00
can0  601   [8]  40 40 60 00 00 00 00 00    master:6040 ControlWord
can0  581   [8]  4B 40 60 00 00 00 00 00
can0  601   [8]  40 60 60 00 00 00 00 00    master:6060 Modes of Operation
can0  581   [8]  4F 60 60 00 00 00 00 00
can0  601   [8]  40 7A 60 00 00 00 00 00    master:607A Target position 
can0  581   [8]  43 7A 60 00 00 00 00 00
can0  601   [8]  40 FF 60 00 00 00 00 00    master:60FF Target velocity
can0  581   [8]  43 FF 60 00 00 00 00 00
can0  000   [2]  01 01                      master:Start remote node
can0  181   [2]  50 02                      
can0  281   [3]  50 02 00
can0  701   [1]  05
can0  501   [6]  06 01 00 00 00 00          
can0  080   [0]
can0  701   [1]  05
can0  281   [3]  31 02 00
can0  181   [2]  31 02
can0  080   [0]
can0  701   [1]  05
can0  080   [0]
can0  701   [1]  05
....

Being new to this, I tried to see what each request was supposed to do but I don't know the expected answer and therefore what is wrong. Here are my different files

launch file

<?xml version="1.0"?>
<launch>
  <group ns="/maxon">
    <!-- Load the URDF into ROS parameter server -->
    <param name="/maxon/robot_description" command="$(find xacro)/xacro '$(find motors)/config/robot.xacro'"/>

    <node name="canopen_motor" pkg="canopen_motor_node" type="canopen_motor_node" output="screen" clear_params="true" >
      <rosparam command="load" file="$(find motors)/config/can.yaml" />
      <rosparam command="load" file="$(find motors)/config/node.yaml" />
    </node>

      <!-- call driver init service -->
    <node pkg="rosservice" type="rosservice" name="global_loc" args="call --wait /maxon/driver/init" />


  <!-- start/spawn controller -->
    <node name="velocity_controller" pkg="controller_manager"
      type="controller_manager" args="spawn wheel_left_to_link_velocity_controller" respawn="false" output="screen"/>


  </group>
</launch>

can.yaml

bus:
  device: can0 # SocketCAN network interface
sync:
  interval_ms: 20 # 10 ms is recommended for non real-time systems, set to 0 to disable sync
  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

node.yaml

nodes:
  left_wheel_joint:
    id: 1
    eds_pkg: motors # optionals package  name for relative path
    eds_file: "config/iPOS.D.v1.04.eds" # path to EDS/DCF file
    required_drive_mode: 3 # 3 means velocity mode
    publish: ["6064"]