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The branch of ros_canopen i use is indigo-devel,which i found out very different from indigo_release_candidate.Which one is more recommended?

indigo-devel is the most recent and recommended version.

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This is a heatbeat failure. (You're controller waits for a heartbeat message, but you have not configured to send it?)

boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<std::bad_cast> > std::exception::what: std::bad_cast

The driver expects another data type (signed char), I guess you're EDS states something else.

It is really hard to debug if you don't provide your config. I guess you have been calling the init service from another shell?