canopen_motor_node initializing failed: Mode switch timed

edit

Following is error message:

     ... logging to /home/yezi/.ros/log/af250fe8-d5b1-11eb-89a6-c79395ab52d4              /roslaunch-yezi-RedmiBook-16-9292.log
   Checking log directory for disk usage. This may take a while.
 Press Ctrl-C to interrupt
 Done checking log file disk usage. Usage is <1GB.

  started roslaunch server http://yezi-RedmiBook-16:42903/

   SUMMARY
  ========

 CLEAR PARAMETERS
  * /canopen_motor/

 PARAMETERS
  * /canopen_motor/bus/device: can1
  * /canopen_motor/bus/driver_plugin: can::SocketCANInt...
  * /canopen_motor/bus/loopback: False
  * /canopen_motor/bus/master_allocator: canopen::SimpleMa...
 * /canopen_motor/defaults/dcf_overlay/1017: 100
 * /canopen_motor/defaults/dcf_overlay/1400sub1: 0x201
 * /canopen_motor/defaults/dcf_overlay/1400sub2: 0xff
 * /canopen_motor/defaults/dcf_overlay/1401sub1: 0x301
 * /canopen_motor/defaults/dcf_overlay/1401sub2: 0xff
 * /canopen_motor/defaults/dcf_overlay/1402sub1: 0x401
 * /canopen_motor/defaults/dcf_overlay/1402sub2: 0xff
 * /canopen_motor/defaults/dcf_overlay/1403sub1: 0x501
 * /canopen_motor/defaults/dcf_overlay/1403sub2: 0xff
 * /canopen_motor/defaults/dcf_overlay/1600sub0: 1
 * /canopen_motor/defaults/dcf_overlay/1600sub1: 0x60400010
  * /canopen_motor/defaults/dcf_overlay/1601sub0: 1
 * /canopen_motor/defaults/dcf_overlay/1601sub1: 0x60600008
 * /canopen_motor/defaults/dcf_overlay/1602sub0: 1
 * /canopen_motor/defaults/dcf_overlay/1602sub1: 0x607a0020
 * /canopen_motor/defaults/dcf_overlay/1603sub0: 1
 * /canopen_motor/defaults/dcf_overlay/1603sub1: 0x60ff0020
  /canopen_motor/defaults/dcf_overlay/1800sub1: 0x181
 * /canopen_motor/defaults/dcf_overlay/1800sub2: 0x01
 * /canopen_motor/defaults/dcf_overlay/1801sub1: 0x281
 * /canopen_motor/defaults/dcf_overlay/1801sub2: 0x01
 * /canopen_motor/defaults/dcf_overlay/1802sub1: 0x381
  * /canopen_motor/defaults/dcf_overlay/1802sub2: 0xfe
 * /canopen_motor/defaults/dcf_overlay/1802sub5: 100
 * /canopen_motor/defaults/dcf_overlay/1803sub1: 0x481
* /canopen_motor/defaults/dcf_overlay/1803sub2: 0xfe
* /canopen_motor/defaults/dcf_overlay/1803sub5: 100
 * /canopen_motor/defaults/dcf_overlay/1a00sub0: 1
 * /canopen_motor/defaults/dcf_overlay/1a00sub1: 0x60410010
 * /canopen_motor/defaults/dcf_overlay/1a01sub0: 1
 * /canopen_motor/defaults/dcf_overlay/1a01sub1: 0x60610008
* /canopen_motor/defaults/dcf_overlay/1a02sub0: 1
* /canopen_motor/defaults/dcf_overlay/1a02sub1: 0x60630020
 * /canopen_motor/defaults/dcf_overlay/1a03sub0: 1
* /canopen_motor/defaults/dcf_overlay/1a03sub1: 0x606c0020
* /canopen_motor/defaults/dcf_overlay/2000sub7: 24
 * /canopen_motor/defaults/dcf_overlay/2001sub10: 20
 * /canopen_motor/defaults/dcf_overlay/2002sub1: 0
 * /canopen_motor/defaults/eds_file: config/NiMotion_P...
 * /canopen_motor/defaults/eds_pkg: liaoqiayuan_base
 * /canopen_motor/defaults/motor_allocator: canopen::Motor402...
 * /canopen_motor/defaults/motor_layer/switching_state: 5
 * /canopen_motor/nodes/wheel_left_joint/id: 1
* /canopen_motor/sync/interval_ms: 20
* /canopen_motor/sync/overflow: 0
* /controllers/joint_state_controller/publish_rate: 50
* /controllers/joint_state_controller/type: joint_state_contr...
 * /controllers/joint_velocity_controller/joint: test_joint
* /controllers/joint_velocity_controller/required_drive_mode: 3
* /controllers/joint_velocity_controller/type: velocity_controll...
* /robot_description: <robot name="test...
* /rosdistro: noetic
 * /rosversion: 1.15.11
 * /socketcan_bridge/can_device: can1

 NODES
 /
  canopen_motor (canopen_motor_node/canopen_motor_node)
  controller_spawner (controller_manager/spawner)
  init_driver (rosservice/rosservice)
  socketcan_bridge (socketcan_bridge/socketcan_bridge_node)

 auto-starting new master
 process[master]: started with pid [9303]
 ROS_MASTER_URI=http://localhost:11311

 setting /run_id to af250fe8-d5b1-11eb-89a6-c79395ab52d4
process[rosout-1]: started with pid [9313]
started core service [/rosout]
process[canopen_motor-2]: started with pid [9321]
 process[socketcan_bridge-3]: started with pid [9322]
process[init_driver-4]: started with pid [9323]
process[controller_spawner-5]: started with pid [9324]
 [ INFO] [1624624469.718225216]: Successfully connected to can1.
[ INFO] [1624624469.780100225]: Using fixed control period: 0.020000000
[ INFO] [1624624470.018098002]: Initializing...
[ INFO] [1624624470.018375833]: Current state: 1 device error: system:0  internal_error: 0 (OK)
[ INFO] [1624624470.018572997]: Current state: 2 device error: system:0 internal_error: 0 (OK)
 [INFO] [1624624470.020155]: Controller Spawner: Waiting for service controller_manager/load_controller
 [ INFO] [1624624475.310162096]: Current state: 2 device error: system:125 internal_error: 0 (OK)
 [ INFO] [1624624475.310300592]: Current state: 0 device error: system:125 internal_error: 0 (OK)
[ INFO] [1624624475.310380492]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ INFO] [1624624475.310621516]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ERROR] [1624624475.311023876]: Initializing failed: Mode switch ...