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Hi JulianS, I'm also trying to understand ros-canopen in canopen_motor_node params I have the next:

defaults: # optional, all defaults can be overwritten per node
  # canopen_chain_node settings ..
  motor_allocator: canopen::Motor402::Allocator # select allocator for motor layer
  #motor_layer: # settings passed to motor layer (plugin-specific)
  switching_state: 5 # (Operation_Enable), state for mode switching
  pos_to_device: "rint(rad2deg(pos)*1000)" # rad -> mdeg
  pos_from_device: "deg2rad(obj6064)/1000" # actual position [mdeg] -> rad
  vel_to_device: "rint(rad2deg(vel)*1000)" # rad/s -> mdeg/s
  vel_from_device: "deg2rad(obj606C)/1000" # actual velocity [mdeg/s] -> rad/s
  eff_to_device: "rint(eff)" # just round to integer
  #eff_from_device: "0" # unset

With that, I can connect correctly to the motors, but I don't know how to assign to them any speed or position.

If you can move the motors, please, could you explain how?

Thank you, Jorge

Hi JulianS, I'm also trying to understand ros-canopen in canopen_motor_node params I have the next:

defaults: # optional, all defaults can be overwritten per node
  # canopen_chain_node settings ..
  motor_allocator: canopen::Motor402::Allocator # select allocator for motor layer
  #motor_layer: # settings passed to motor layer (plugin-specific)
  switching_state: 5 # (Operation_Enable), state for mode switching
  pos_to_device: "rint(rad2deg(pos)*1000)" # rad -> mdeg
  pos_from_device: "deg2rad(obj6064)/1000" # actual position [mdeg] -> rad
  vel_to_device: "rint(rad2deg(vel)*1000)" # rad/s -> mdeg/s
  vel_from_device: "deg2rad(obj606C)/1000" # actual velocity [mdeg/s] -> rad/s
  eff_to_device: "rint(eff)" # just round to integer
  #eff_from_device: "0" # unset

With that, I can connect correctly to the motors, but I don't know how to assign to them any speed or position.

If you can move the motors, please, could you explain how?

Thank you, Jorge