Canopen_master initializing failure with "std::bad_cast; Could not set transition"

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Hi guys!

I'm new to ROS and I would like to use ros_canopen(0.8.5) package to control a motor (supporting Canopen) on a Rasberry Pi 4b (Ubuntu 18.04.5 + ros melodic). The current situation is that the canopen master cannot be initialized successfully with the error "std::bad cast; Could not set transition". I have looked up into many tutorials but it seems that I could not find a suitable solution for this error. I am stuck with this problem for a few days and I really need the help of the ROS community.

Here are the messages in the terminal after running the launch file.

process[controller_spawner-1]: started with pid [3810] process[canopen_motor_chain_node-2]: started with pid [3817] [INFO] [1663069518.006649346]: Using fixed control period: 0.010000000 process[robot_state_publisher-3]: started with pid [3840] process[joint_state_publisher-4]: started with pid [3861] process[init_driver-5]: started with pid [3874] [ INFO] [1663069522.544832547]: Initializing... [ INFO] [1663069522.545328712]: Current state: 1 device error: system:0 internal_error: 0 (OK) [ INFO] [1663069522.546353115]: Current state: 2 device error: system:0 internal_error: 0 (OK) [ WARN] [1663069524.567316957]: illegal transition 0 -> 2 [ INFO] [1663069524.567640758]: Current state: 2 device error: system:125 internal_error: 0 (OK) [ INFO] [1663069524.567782012]: Current state: 0 device error: system:125 internal_error: 0 (OK) [ INFO] [1663069524.567874619]: Current state: 0 device error: system:0 internal_error: 0 (OK) [ INFO] [1663069524.567978985]: Current state: 0 device error: system:0 internal_error: 0 (OK) [ERROR] [1663069524.568633236]: Initializing failed: /opt/ros/melodic/include/canopen_master/objdict.h(88): > Throw in function const T& canopen::HoldAny::get() const [with T = canopen::NodeIdOffset<short int="">] Dynamic exception type: >boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<std::bad_cast>> std::exception::what: std::bad_cast; Could not set transition

Obviously, there is a warning message "illegal transition 0->2" which I think it is thrown by canopen_402/src/motor.cpp in line 158 . I wonder if this has something to do with the error. Also, the code snippt of where it fails is given as follows.

template<typename T> const T & get() const{
    if(!type_guard.is_type<T>()){
        BOOST_THROW_EXCEPTION(std::bad_cast());
    }else if(empty){
        BOOST_THROW_EXCEPTION(std::length_error("buffer empty"));
    }
    return *(T*)&(buffer.front());
}

Here are the can frames collected from CAN bus during launching process.

can0 000 [2] 82 01

can0 701 [1] 00

can0 601 [8] 2B 17 10 00 00 00 00 00

can0 581 [8] 60 17 10 00 00 00 00 00

can0 000 [2] 01 01

can0 181 [2] 40 02

can0 601 [8] 2F 60 60 00 00 00 00 00

can0 581 [8] 60 60 60 00 00 00 00 00

can0 000 [2] 02 01

Here are the corresponding configuration files, including the configurations for motor controller, motor limitations and canopen. As can be seen in the canopen.yaml, there are no PDO remappings now. The .eds file has been checked by CANeds and is now error-free. The original one is here.

This question also follows on from a Github issue of ros_canopen.