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ros_canopen will use PDOs if you have configured them properly in the EDS/DCF. If not, SDOs will be used.

I recommend CANeds to modify the mapping. If you want to do it manually, the wiki lists the entries for commonly used objects.

Please note: The mapping has to be configured as ParameterValue, whereas DefaultValue must reflect the mapping at boot-up. ros_canopen will then run the correct initialization sequence as part of the init service.

ros_canopen will use PDOs if you have configured them properly in the EDS/DCF. If not, SDOs will be used.

I recommend CANeds to modify the mapping. If you want to do it manually, the wiki lists the entries for commonly used objects.

Please note: The mapping has to be configured as ParameterValue, whereas DefaultValue must reflect the mapping at boot-up. ros_canopen will then run the correct initialization sequence as part of the init service.

CANeds shows the ParameterValue tab (not sure how it is called exactly) only, if your file has a .dcf ending.