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roscanopen SDO or PDO for service calls?

asked 2018-09-17 14:07:14 -0500

JadTawil gravatar image

If i have an object mapped to a PDO in the canopen EDS and then i go to use the ros-canopen service "set_object" to modify its value, does ros-canopen use SDO or PDO to modify this value in the object dictionary of my device?

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answered 2018-09-18 07:11:39 -0500

Mathias Lüdtke gravatar image

If you have mapped the object to a RPDO (of the device), it will be used to set the value. Otherwise SDO.

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awesome. on another note. i very much admire the software acrhitecture used in ros-canopen. I am interested in learning a bit more and have some questions. Can i contact you in private with some questions? I know this isnt the appropriate place to ask but i dont know how else i would contact you lol

JadTawil gravatar image JadTawil  ( 2018-09-18 07:22:59 -0500 )edit

my email is , shoot me an email if this is a possibility

JadTawil gravatar image JadTawil  ( 2018-09-18 07:23:32 -0500 )edit

answered 2019-07-24 05:09:20 -0500

Ishu Goel gravatar image

PDOs are used for fast communication and are sent cyclically while SDOs are not cyclic. PDOs should be used for sending real-time data and SDOs for configuration settings and services. Though PDO has higher priority than SDO but based on data type, a selection can be made. For service calls, SDOs can be used.

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Asked: 2018-09-17 14:07:14 -0500

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Last updated: Sep 18 '18