ROS_canopen correct PDO mapping + EDS modifications?

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Hello!

I have the following setup: Microchip CAN BUS Analyzer + Delta ASDA A2 motor driver + ECMA AC servo motor Later there will be more motors and drivers, but now the goal is to control a single motor in ROS. Of course, i both read all the information in wiki.ros and followed all the relevant questions here in the forum, but still my setup is not working, so here i am and would like to ask the parts that are fuzzy.

Quickly i summarize what i've done: (, even though these steps are listed in most of the forum questions and answers, see jdeleon's question or Mathias Lüdtke's answer)

1. I set up the ASDA motor driver to CANopen mode, + Node id to 1, + Baudrate to 500 kBps + Sync (see the link: CANopen manual on page 7)
2. SocketCAN is set up, running
3. URDF is written containing 2 links (base_link, link_1 with visual geometry, collision and inertial tags) + a revolute joint (name:joint_1 with limits, and parent child links) + a transmission(tran1: SimpleTransmission, PositionJointInterface). The URDF was tested in rviz with the joint_state_publisher slider it worked as expected.
4. EDS file: This file was given by the manufacturer (EDS file)
5. I configured the CANopen bus layer, however i don't know if the heartbeat part is necessary or not (in some forum answers i saw that it was commented out)? (can.yaml)
6. i configured the Motor settings and the Node layer with name:joint_1, id:1 (manipulator1d_motors.yaml) however i dont't know what should be the default switching state? (is the default 5, i.e., quick stop ok?)
7. Controller config file containing the joint_state_controller and a joint_1_position_controller (type: position_controllers/JointPositionController, joint: joint_1, required_drive_mode: 1) (manipulator1d_controller.yaml)
8. Launch file containing robot_description urdf, robot_state_publisher node, joint_state_publisher node, rviz node, + canopen_motor_node with loading the aforementioned can.yaml and manipulator1d_motors.yaml files + load of the controller yaml file, + controller_spawner node with the spawning of the aforementioned controllers
9. rosservice call /driver/init

Of course, in the 9th step the service call crashed, with the messages:

first terminal:

[ INFO] [1529055659.976854113]: Using fixed control period: 0.010000000
[ INFO] [1529055664.213323688]: Initializing XXX
[ INFO] [1529055664.213611131]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1529055664.213834181]: Current state: 2 device error: system:0 internal_error: 0 (OK)
EMCY: 81#4154201300000000
[ERROR] [1529055667.444154070]: Throw location unknown (consider using BOOST_THROW_EXCEPTION)
Dynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >
std::exception::what: boost: mutex lock failed in pthread_mutex_lock: Invalid argument
illegal tranistion 0 -> 2
[ INFO] [1529055667.496812113]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ INFO] [1529055667.496986914]: Current state: 0 device error: system:0 internal_error: 0 (OK)

second terminal:

success: False
message: "Throw location unknown (consider using BOOST_THROW_EXCEPTION)\nDynamic exception\
\ type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error>\
\ >\nstd::exception::what: boost: mutex lock failed in pthread_mutex_lock: Invalid\
\ argument\n; Could not set transition"

So at this point i started to read everything and dig into the details. More or ... (more)