| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
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?
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.
If you have mapped the object to a RPDO (of the device), it will be used to set the value. Otherwise SDO.
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
my email is jd224234@dal.ca , shoot me an email if this is a possibility
Asked: 2018-09-17 14:07:14 -0500
Seen: 488 times
Last updated: Sep 18 '18
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
