# ros_canopen: how to change initialization

Hello, we try to use the ros_canopen package on ros melodic (Ubuntu 18.04) with our nanotec motor (PD4-CB59M024035-E-08). We got the .eds from nanotec (package download here) and checked for mapping errors and that nothing is mapped twice. We are able to roslaunch our motor node without errors. But when we try to rosservice call the init, we are not able to turn the motor. If we change the drive mode manually to velocity mode (2), we are able to bypass that error. After rosservice calling again, the motors turns a bit and shows in the candump that the actual value is changing. After a while we get the error

success: False
message: "Mode switch timed out.; Could not enter homing mode"


We did not define the homing mode at any of our .yaml files. Homing is supported by the motor controller (according to their manual).

Because I still do not understand the initialization process of the service, I'd like to ask you, in which file we can find the procedure of initialization so we can bypass the homing mode and also set our operations mode (0x6060) to velocity mode.,So we don't have to do it manually before initializing. Thanks

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