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Hi,

You could use maxon EPOS4 controllers, they are CiA402 and work fine with ros_canopen. There is a large range of products so you'd have to chose one that can accept 48V, for example the EPOS4 Compact 50/15 CAN.

I made two tutorials on the ros_canopen page itself that you can use to get some basic demo working. You can also find a sample ROS package and more complete documentation here.

Feel free to open new specific questions here on ROS Answers if it's related to ros_canopen tutorials.