Mode 7 is not available for rig1_plate_joint [closed]
I want to use Interpolated Position mode to motors motion, so i use the node canopen_motor_node with operation modes ID.7
There is an error:
[ERROR] [1543196493.734653465]: Mode 7 is not available for rig1_plate_joint
[ERROR] [1543196493.734755167]: Could not switch controllers. The hardware interface combination for the requested controllers is unfeasible.
[ERROR] [1543196493.735180]: Failed to start controllers: joint_trajectory_controller
my controller manager yaml file:
joint_trajectory_controller:
type: position_controllers/JointTrajectoryController
topic: "test"
joints:
- rig1_plate_joint
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.5
rig1_plate_joint: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 25
action_monitor_rate: 10
required_drive_mode: 7
So hardware_interface::PositionJointInterface can accept IP mode(ID.7) ? Right?
May my eds or def file has problem? I use the copley canopen controls, who can share your eds file with me?
Why i will meet this error when use the canopen_test_utils package? Who can enlighten me? Thx very much!!