get joint states in switched on state

asked 2018-09-06 09:34:15 -0500

JadTawil gravatar image

Here is what i am trying to do. I want to record the joint_states of some joints that are being controlled with ros_canopen. However, i want to be able to back-drive the joints manually (with my hands basically). The problem, is that after homing, the joints go into "Operation Enabled" mode, so the motor has voltage being applied to it, and has a holding torque.

I tried writing the control_word object to move the motors from OE mode to ready-to-switch-on. However, as soon as i write the required value, ros_canopen overwrites it back to 15d, meaning back to operation enabled.

How can i move a joint with no voltage at the motor, and still read the encoder values through ros_canopen?

Thank you.

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