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2020-08-11 04:41:19 -0600 commented answer Motor control using ROS, Epos2 and CANOpen

Thanks for this additional information ! I will try to find a USB-CAN interface somewhere in my lab.

2020-08-11 03:57:39 -0600 marked best answer Motor control using ROS, Epos2 and CANOpen

Hello everyone,

I happen to be stuck for a few days now by problems some of the forum's members apparently already encountered, whence this question. I hope the latter will not be considered as superfluous, and that it could prove to be helpful to others.

My computer runs a 64-bit Debian GNU/Linux 10 (buster) OS, and ROS Noetic Ninjemys (rosversion -d says noetic). I besides installed the package "ros_canopen" from the "package.ros.org" repositories using sudo apt-get install ros-noetic-ros-canopen.

My current goal is to manage to send rotation speed commands to an AC motor equipped with a Hall sensor (similar to this model) through an EPOS2 70/10 electric drive, using the CANOpen communication protocol, and thus, the "ros_canopen" package. My problem is that I actually don't know where to start to achieve such objective.

After some researches, I ended up trying to follow the steps proposed here on the forum. I was though not even able to complete the first stage, consisting in setting-up SocketCAN. I met indeed two issues:

  1. When loading the drivers, the command sudo modprobe pcan returns modprobe: FATAL: Module pcan not found in directory /lib/modules/4.19.0-9-amd64
  2. When running sudo ip link set can0 up type can bitrate 1000000, which says sudo ip link set can0 up type can bitrate 1000000. The device "can0" does besides not appear in the list provided by ifconfig -a.

Could you please give me a clue about how to overcome those problems ?

An additional difficulty may come from the fact that I have chosen thus far to connect the EPOS2 controller to my computer using its USB output only. I do not employ any CAN-to-USB interface, simply because I do not have one to hand for now. Is such a device necessary to perform motor control ?

Could you finally please recommend me a tutorial, or give me pieces of advice, regarding motor control using the "ros_canopen" package.

Thanks a lot, regards,

Julien.

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2020-08-07 02:38:18 -0600 commented answer Motor control using ROS, Epos2 and CANOpen

Thank you for your answer. If I understand you correctly, a CAN-USB interface (such as this one) is definitely required

2020-07-28 10:55:46 -0600 asked a question Motor control using ROS, Epos2 and CANOpen

Motor control using ROS, Epos2 and CANOpen Hello everyone, I happen to be stuck for a few days now by problems some of

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2020-07-06 02:16:51 -0600 marked best answer catkin_make could not find roslib

Hello everyone,

First of all, thank you for this amazingly helpful forum. I have been using ROS for a few months now, but I only decide to write a question here today.

My computer runs a 64-bit Debian GNU/Linux 10 (buster) OS, and a version of ROS that, as far as I understand, corresponds to Melodic Morenia (though rosversion -d says Debian). I have not performed the installation of ROS myself.

I am trying to conceive a data acquisition and control system using ROS, based on tools found within the ROS ecosystem, and on homemade packages (developed using C++). I would like now to make my system be able to control a motor using the CANOpen communication protocol, which led me to try to install the "ros_canopen" set of packages. However, I am currently not able to build these packages.

My project's directory (named "autofleet") is located within a Catkin workspace, and corresponds besides to a Git repository. It contains a couple of homemade packages, along with some other packages (including the "ros_canopen" set) that have been defined as Git submodules of my superproject "autofleet".

I am used to employ the catkin_make command, with various options, experimenting especially with the blacklist management capacity offered by -DCATKIN_BLACKLIST_PACKAGES. I happen though to be struggling to build the packages included in "ros_canopen". What I nevertheless tried to do today is to build them one after the other, and to deal with the errors either by removing from or adding to Catkin's blacklist some packages I had already cloned within my project, or by defining new Git submodules. This method allowed me to manage to build most of the packages found in "ros_canopen", until I crossed swords with "canopen_chain_node".

The latter depends indeed on "pluginlib", which I had not cloned yet within my project. I hence did so, and then tried to build the appropriate packages of my Catkin workspace using the catkin_make command, adding especially "canopen_chain_node" to the blacklist. I then obtained the following error:

-- Could NOT find roslib (missing: roslib_DIR)
-- Could not find the required component 'roslib'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.

CMake Error at /usr/share/catkin/cmake/catkinConfig.cmake:82 (find_package):
  Could not find a package configuration file provided by "roslib" with any of the following names:

roslibConfig.cmake
roslib-config.cmake

 Add the installation prefix of "roslib" to CMAKE_PREFIX_PATH or set "roslib_DIR" to a directory containing one of the above files.  If "roslib" provides a separate development package or SDK, be sure it has been installed.

This is where I get confused, because I thought that "roslib" was part of the basic ROS installation, and I did not understand how Catkin / Cmake could not find the corresponding components in order to properly build the "pluginlib" package...

Besides, running find / -name roslib* 2>/dev/null gives me in particular the following results:

/usr/lib/python2.7 ...
(more)
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2020-06-30 03:35:16 -0600 commented answer catkin_make could not find roslib

@gvdhoorn : Thank you for these details. I was not aware of the distinction between ROS packages from UpstreamPackages a

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2020-06-30 01:54:06 -0600 commented answer catkin_make could not find roslib

Thanks a lot for your answers. I realize that I have been doing things the wrong way for months now... I am going to co

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2020-06-29 10:55:05 -0600 asked a question catkin_make could not find roslib

catkin_make could not find roslib Hello everyone, First of all, thank you for this amazingly helpful forum. I have been