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I have a working setup using ros_canopen and two maxon EPOS4 controllers. To get it working I had to change the Homing method AccessType to "const" in my DCF files:

This should not be needed.. (Unless the object is const in the device's object directory.

As I don't have access to those robot hardware, does anybody knows whether or not those 2 example are working properly,

These are only examples, they show the production settings of Care-O-bot 4!

We did not use homing for the Schunk hardware, so we disabled it. But in the supported drive modes (0x6502), not via the homing method (0x6098).

Ideally I would like to keep my original DCF file unchanged to reflect exactly my controllers, and only change parameters from the ROS config files

You can specify dcf_overlay to set your parameter values from ROS.

Our approach was:

1. Clean-up EDS (if needed)
2. Create DCF with common settings, espcially PDO mappings
3. Overwrite settings in dcf_overlay for device-specific properties like limits and homing offset