Ask Your Question
0

ros_canopen homing simultaneously or one-by-one?

asked 2019-06-21 08:13:38 -0500

akosodry gravatar image

updated 2019-06-21 08:13:56 -0500

Hello,

this question has been addressed in these questions as well (Q1, Q2), however no answer arrived, therefore i'm asking as well.

It is not clear from the wiki of ros_canopen that how does the node execute the homing of multiple motors/joints?

Do the motors execute the homing simultaneously or one-by-one?

If one-by-one, than does it mean, that the execution of the next homing procedure is not started until the previous has not been finished?

Also, is it possible to change the order of the sequence? I mean, what if i want to execute the homing like, joint1-joint3-joint2-joint4-joint5? Should be enough just to change the order in the yaml config file?

Thank you in advance.

edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted
1

answered 2019-06-21 10:07:26 -0500

Mathias Lüdtke gravatar image

Do the motors execute the homing simultaneously or one-by-one?

One-by-one (canopen_motor_node, as-is).

If one-by-one, than does it mean, that the execution of the next homing procedure is not started until the previous has not been finished?

Exactly

Also, is it possible to change the order of the sequence? I mean, what if i want to execute the homing like, joint1-joint3-joint2-joint4-joint5?

Yes, just use list syntax to specify the overall order

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2019-06-21 08:13:38 -0500

Seen: 27 times

Last updated: Jun 21