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ros_canopen: "Did not receive a response message"

Hello!

I have established a working package that drives a servo motor through ros_canopen. The earlier problems with solutions is given in the question: here.

Even though i am able to both control the servo motor with a position_controllers/JointPositionController in required_drive_mode: 1 and read the actual position through the /joint_states topic,

it bothers me, that i get often (for example after 1 minute of testing the position controller) the following error messages in the terminal:

Did not receive a response message
abort1001#0, reason: Client/server command specifier not valid or unknown.
Could not process message
discarded message 
Did not receive a response message
abort606c#0, reason: Client/server command specifier not valid or unknown.
Could not process message
discarded message 
Did not receive a response message
abort606c#0, reason: Client/server command specifier not valid or unknown.
Could not process message
discarded message 
Did not receive a response message
abort606c#0, reason: Client/server command specifier not valid or unknown.
Could not process message
discarded message 
discarded message 
discarded message 
discarded message 
discarded message 
discarded message

Nothing crashes, i am still able to control the motor continuously, but the aforementioned error messages pop quite often, and it bothers me a bit.

Can you help me what could be the problem that causes these issues?

Regarding the CANopen setup, i have:

sync: interval_ms: 100

I use only one TPDO and one RPDO:

RPDO1: 0x60400010, 0x607a0020

TPDO1: 0x60410010, 0x60610008, 0x60640020

I tried both with transmission type=255 and transmission type=1 (in 1400sub2, 1800sub2). In both cases the motor control works, and the aforementioned error messages pop frequently.

Thank you for the help in advance.

Best regards, Akos

ros_canopen: "Did not receive a response message"

Hello!

I have established a working package that drives a servo motor through ros_canopen. The earlier problems with solutions is given in the question: here.

Even though i am able to both control the servo motor with a position_controllers/JointPositionController in required_drive_mode: 1 and read the actual position through the /joint_states topic,

it bothers me, that i get often (for example after 1 minute of testing the position controller) the following error messages in the terminal:

Did not receive a response message
abort1001#0, reason: Client/server command specifier not valid or unknown.
Could not process message
discarded message 
Did not receive a response message
abort606c#0, reason: Client/server command specifier not valid or unknown.
Could not process message
discarded message 
Did not receive a response message
abort606c#0, reason: Client/server command specifier not valid or unknown.
Could not process message
discarded message 
Did not receive a response message
abort606c#0, reason: Client/server command specifier not valid or unknown.
Could not process message
discarded message 
discarded message 
discarded message 
discarded message 
discarded message 
discarded message

Nothing crashes, i am still able to control the motor continuously, but the aforementioned error messages pop quite often, and it bothers me a bit.

Can you help me what could be the problem that causes these issues?

Regarding the CANopen setup, i have:

sync: interval_ms: 100

I use only one TPDO and one RPDO:

RPDO1: 0x60400010, 0x607a0020

TPDO1: 0x60410010, 0x60610008, 0x60640020

I tried both with transmission type=255 and transmission type=1 (in 1400sub2, 1800sub2). In both cases the motor control works, and the aforementioned error messages pop frequently.

Thank you for the help in advance.

Best regards, Akos