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Can I home modules using ipa_canopen_ros

I would like to home my modules using the ros portion of ipa_canopen.

I have a powerball arm and I am using peak usb can device. I am communicating fine and controlling arms fine. I was just wondering if there was a function or process for homing the modules? I would like to do this from my python scripts.

I have tried the provided ipa_canopen_core tools for homing and I am not having success.