Hi all, I'm trying to control the robot described in q#292882, as that question is more general about how to configure all the robot with canopen + ixxat adapter + maxon mcd. I'm openning this new question to try find solution to an specific error that more users say that they have.

At this point, I have configured the canopen node to launch the configuration for the 6 motors.

allow-hotplug can0
iface can0 can static
    bitrate 1000000
    up ip link set $IFACE txqueuelen 20 # uncomment if more than 4 nodes are used

In my launch file I launch the canopenmotornode

<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>

When I try to init the motors (rosservice call /hexapodo/drive/init) I get the next error:

jorge@jorge-ubuntu:~$ rosservice call /hexapodo/driver/init 
success: False
message: "/home/jorge/WS/epos_ws/src/ros_canopen/canopen_master/src/pdo.cpp(359): Throw in\
  \ function void canopen::PDOMapper::Buffer::read(const canopen::ObjectDict::Entry&,\
  \ canopen::String&)\nDynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<std::bad_cast>\
  \ >\nstd::exception::what: std::bad_cast\n[canopen::tag_objectdict_key*] = 6061sub0\n"

The 6061 code is refer to the "Modes of Operation Display"

I try to modify the register [6502] as @Edgar Carrasco told me here and @Mathias Lüdtke adding the default value:

[6502]
ParameterName=Supported Drive Modes
DataType=0x0007
AccessType=const
DefaultValue=0x003F0025
PDOMapping=0
ObjFlags=0x1
ParameterValue=0x003F0025

But the error persist.

Many thanks, Jorge

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• • - Edit: I have generate a new DCF file from EPOS_UserInterface and paste @Mathias Lüdtke code, but now, the error is also in the service call:

  success: False message: "/home/jorge/WS/eposws/src/roscanopen/canopenmaster/src/pdo.cpp(359): Throw in\ \ function void canopen::PDOMapper::Buffer::read(const canopen::ObjectDict::Entry&,\ \ canopen::String&)\nDynamic exception type: boost::exceptiondetail::cloneimpl<boost::exceptiondetail::errorinfoinjectorstd::bad_cast\ \ >\nstd::exception::what: std::badcast\n[canopen::tagobjectdict_key*] = 6061sub0\n\ ; Transition timeout"

And in the launch terminal:

[ERROR] [1528463248.261114363]: /home/jorge/WS/epos_ws/src/ros_canopen/canopen_master/src/pdo.cpp(359): Throw in function void canopen::PDOMapper::Buffer::read(const canopen::ObjectDict::Entry&, canopen::String&)
Dynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<std::bad_cast> >
std::exception::what: std::bad_cast
[canopen::tag_objectdict_key*] = 6061sub0

If someone wnats to see the DCF files are in this repository. This is the chronology:

1. MCDEposnode1.dcf
2. motor1old.dcf
3. motor_1.dcf
4. Node_1.dcf

---

• - - Edit 2:

As @Mathias Lüdtke recommended me, I check the file with CANeds.

The result is 499 Errors and 41 Warnings detected.

I have upload the errors to the git.

Now, I will try to find how to solve all this errors and warnings.

---

• - - Edit 3:

I have compared my DCF file with this one.

And also try to copy the 6061sub0 paremeters. But when I launch the node, I have this error:

[ERROR] [1528795391.251278454]: /home/jorge/WS/epos_ws/src/ros_canopen/canopen_master/include/canopen_master/objdict.h(224): Throw in function const EntryConstSharedPtr& canopen::ObjectDict::at(const canopen::ObjectDict::Key&) const
Dynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<std::out_of_range> >
std::exception::what: Unable to find key in unordered_map.
[canopen::tag_objectdict_key*] = 6061

[hexapodo/driver-2] process has died [pid 30493, exit code 1, cmd /home/jorge/WS/epos_ws/devel/lib/canopen_motor_node/canopen_motor_node __name:=driver __log:=/home/jorge/.ros/log/395043b8-6e22-11e8-a3a3-4ccc6a639f77/hexapodo-driver-2.log].
log file: /home/jorge/.ros/log/395043b8-6e22-11e8-a3a3-4ccc6a639f77/hexapodo-driver-2*.log

I don't know, if my motor doesn't accept this mode or action...

[202E]
ParameterName=Trajectory Profile Time
DataType=7
AccessType=ro
PDOMapping=1
ObjFlags=3

[6061]
ParameterName=modes_of_operation_display
ObjectType=0x7
DataType=0x0002
AccessType=ro
PDOMapping=1