[SOLVED] ros_canopen: "Did not receive a response message"
Hello!
I have established a working package that drives a servo motor through ros_canopen. The earlier problems with solutions is given in the question: here.
Even though i am able to both control the servo motor with a position_controllers/JointPositionController
in required_drive_mode: 1
and read the actual position through the /joint_states
topic,
it bothers me, that i get often (for example after 1 minute of testing the position controller) the following error messages in the terminal:
Did not receive a response message
abort1001#0, reason: Client/server command specifier not valid or unknown.
Could not process message
discarded message
Did not receive a response message
abort606c#0, reason: Client/server command specifier not valid or unknown.
Could not process message
discarded message
Did not receive a response message
abort606c#0, reason: Client/server command specifier not valid or unknown.
Could not process message
discarded message
Did not receive a response message
abort606c#0, reason: Client/server command specifier not valid or unknown.
Could not process message
discarded message
discarded message
discarded message
discarded message
discarded message
discarded message
Nothing crashes, i am still able to control the motor continuously, but the aforementioned error messages pop quite often, and it bothers me a bit.
Can you help me what could be the problem that causes these issues?
Regarding the CANopen setup, i have:
sync: interval_ms: 100
I use only one TPDO and one RPDO:
RPDO1: 0x60400010, 0x607a0020
TPDO1: 0x60410010, 0x60610008, 0x60640020
I tried both with transmission type=255
and transmission type=1
(in 1400sub2
, 1800sub2
). In both cases the motor control works, and the aforementioned error messages pop frequently.
Thank you for the help in advance.
Best regards, Akos