How to use canopen_master ?

edit

Hi Dizett! I'm also in your situation. I can init the motors but I don't know how to give any order to move the motors.

If you get it, please, could you explain it?

Thank you!

make sure that the .eds file does not contain errors.

.launch file

<launch>
  <arg name="yaml"/>
  <node name="canopen_chain" pkg="canopen_chain_node" type="canopen_chain_node" output="screen" respawn= "true" clear_params="true">
    <rosparam command="load" file="$(find my_pkg)/eds/my_yaml.yaml" />
  </node>
</launch>

.yaml

bus:
  device: can0
  loopback: true # socket should loop back messages
  master_allocator: canopen::SimpleMaster::Allocator
sync:
  interval_ms: 10
  overflow: 10
nodes:
  device_name:
    id: 0x20 #you must know the address of the device
    eds_file: path_to_eds.eds

and using

rosservice call /driver/set_object "node: 'device_name '
object: '6200sub2' 
value: '5'
cached: false"

With this command, you send a value of 5 to the device "device_name" by the address from the .eds file.

or in code

  send_service_("device_name", "6200sub2", 5);

@Dizett, my launch file differs

<node ns="hexapodo" name="driver" pkg="canopen_motor_node" type="canopen_motor_node" output="screen" clear_params="true" launch-prefix="">
<rosparam command="load" file="$(find canopen_chain_node)/config/canopen.yaml" />
</node>

In the device_name, the ID is the serial number of the motor or the Node ID in the CAN network?

Which instruction is 6200 in your motor? I don't have that one in Maxon MCD Epos