Could not enable motor
jclinton830 opened this issue · comments
Describe the bug
I used the cia402_setup.launch.py to test the cia402_driver with my roboteq MBL1660 controller. After the driver boots it sends the device into this state Slave 0x15: Switched NMT state to PREOP.
After that, I issued an /init service call to the device which resulted in the could not enable motor message. Would you know what might be causing this?
See below the bus.yaml, the can dump and the launch output.
Keep in mind that I have trimmed the candump by deleting duplicate messages to maintain the character limit.
Logs
driver: "ros2_canopen::MasterDriver"
package: "canopen_master_driver"
sync_period: 10000
defaults:
dcf: "roboteq_motor_controllers_v80.eds"
driver: "ros2_canopen::Cia402Driver"
package: "canopen_402_driver"
period: 10
heartbeat_producer: 1000
polling: true
diagnostics:
enable: true
period: 1000 # in milliseconds
sdo:
# - {index: 0x60C2, sub_index: 1, value: 50} # Set interpolation time for cyclic modes to 50 ms
# - {index: 0x60C2, sub_index: 2, value: -3} # Set base 10-3s
- {index: 0x6081, sub_index: 0, value: 1000}
- {index: 0x6083, sub_index: 0, value: 2000}
tpdo: # TPDO needed statusword, actual velocity, actual position, mode of operation
1:
enabled: true
cob_id: "auto"
transmission: 0x01
mapping:
- {index: 0x6041, sub_index: 0} # status word
- {index: 0x6061, sub_index: 0} # mode of operation display
2:
enabled: true
cob_id: "auto"
transmission: 0x01
mapping:
- {index: 0x6064, sub_index: 0} # position actual value
- {index: 0x606c, sub_index: 0} # velocity actual position
3:
enabled: true
cob_id: "auto"
mapping:
- {index: 0x6502, sub_index: 0} # mode of operation display
4:
enabled: false
rpdo: # RPDO needed controlword, target position, target velocity, mode of operation
1:
enabled: true
cob_id: "auto"
mapping:
- {index: 0x6040, sub_index: 0} # controlword
- {index: 0x6060, sub_index: 0} # mode of operation
2:
enabled: true
cob_id: "auto"
mapping:
- {index: 0x607A, sub_index: 0} # target position
- {index: 0x60FF, sub_index: 0} # target velocity
nodes:
cia402_device_1:
node_id: 21
position_mode: 1
can0 715 [1] 7F
can0 701 [1] 00
can0 000 [2] 82 00
can0 715 [1] 00
can0 615 [8] 40 00 10 00 00 00 00 00
can0 095 [8] 00 00 00 00 00 00 00 00
can0 595 [8] 43 00 10 00 91 01 0F 00
can0 080 [0]
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 000 [1] 82
can0 715 [1] 00
can0 615 [8] 40 00 10 00 00 00 00 00
can0 095 [8] 00 00 00 00 00 00 00 00
can0 080 [0]
can0 595 [8] 43 00 10 00 91 01 0F 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 715 [1] 7F
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
can0 215 [3] 00 01 00
can0 080 [0]
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jerome@jjustin:~/gh_ws$ ros2 launch canopen_tests cia402_setup.launch.py
[INFO] [launch]: All log files can be found below /home/jerome/.ros/log/2023-10-24-11-37-13-967122-jjustin-443872
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: /home/jerome/gh_ws/install/canopen_tests/share/canopen_tests/config/cia402/bus.yml
[INFO] [launch.user]: /home/jerome/gh_ws/install/canopen_tests/share/canopen_tests/config/cia402/master.dcf
[INFO] [launch.user]:
[INFO] [launch.user]: can0
[INFO] [device_container_node-1]: process started with pid [443883]
[device_container_node-1] [INFO] [1698107834.092974548] [device_container_node]: Starting Device Container with:
[device_container_node-1] [INFO] [1698107834.093041713] [device_container_node]: master_config /home/jerome/gh_ws/install/canopen_tests/share/canopen_tests/config/cia402/master.dcf
[device_container_node-1] [INFO] [1698107834.093047243] [device_container_node]: bus_config /home/jerome/gh_ws/install/canopen_tests/share/canopen_tests/config/cia402/bus.yml
[device_container_node-1] [INFO] [1698107834.093050328] [device_container_node]: can_interface_name can0
[device_container_node-1] [INFO] [1698107834.093568115] [device_container_node]: Loading Master Configuration.
[device_container_node-1] [INFO] [1698107834.093842172] [device_container_node]: Load Library: /home/jerome/gh_ws/install/canopen_master_driver/lib/libmaster_driver.so
[device_container_node-1] [INFO] [1698107834.095751944] [device_container_node]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::MasterDriver>
[device_container_node-1] [INFO] [1698107834.095767082] [device_container_node]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::MasterDriver>
[device_container_node-1] [INFO] [1698107834.097652763] [master]: NodeCanopenBasicMaster
[device_container_node-1] [INFO] [1698107834.097725187] [device_container_node]: Load master component.
[device_container_node-1] [INFO] [1698107834.097766792] [device_container_node]: Added /master to executor
[device_container_node-1] [INFO] [1698107834.109186441] [device_container_node]: Loading Driver Configuration.
[device_container_node-1] [INFO] [1698107834.109323792] [device_container_node]: Found device cia402_device_1 with driver ros2_canopen::Cia402Driver
[device_container_node-1] [INFO] [1698107834.109748331] [device_container_node]: Load Library: /home/jerome/gh_ws/install/canopen_402_driver/lib/libcia402_driver.so
[device_container_node-1] [INFO] [1698107834.114892332] [device_container_node]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::Cia402Driver>
[device_container_node-1] [INFO] [1698107834.114919416] [device_container_node]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::Cia402Driver>
[device_container_node-1] [INFO] [1698107834.117470706] [device_container_node]: Load driver component.
[device_container_node-1] [INFO] [1698107834.117560777] [device_container_node]: Added /cia402_device_1 to executor
[device_container_node-1] [INFO] [1698107834.129462001] [cia402_device_1]: scale_pos_to_dev_ 1000.000000
[device_container_node-1] scale_pos_from_dev_ 0.001000
[device_container_node-1] scale_vel_to_dev_ 1000.000000
[device_container_node-1] scale_vel_from_dev_ 0.001000
[device_container_node-1]
[device_container_node-1] [INFO] [1698107834.131058804] [cia402_device_1]: eds file /home/jerome/gh_ws/install/canopen_tests/share/canopen_tests/config/cia402/roboteq_motor_controllers_v80.eds
[device_container_node-1] [INFO] [1698107834.131083424] [cia402_device_1]: bin file /home/jerome/gh_ws/install/canopen_tests/share/canopen_tests/config/cia402/cia402_device_1.bin
[device_container_node-1] Found rpdo mapped object: index=6040 subindex=0
[device_container_node-1] Found rpdo mapped object: index=6060 subindex=0
[device_container_node-1] Found rpdo mapped object: index=607a subindex=0
[device_container_node-1] Found rpdo mapped object: index=60ff subindex=0
[device_container_node-1] Found rpdo mapped object: index=2005 subindex=d
[device_container_node-1] Found rpdo mapped object: index=2005 subindex=e
[device_container_node-1] Found rpdo mapped object: index=2005 subindex=f
[device_container_node-1] Found rpdo mapped object: index=2005 subindex=10
[device_container_node-1] Found tpdo mapped object: index=6041 subindex=0
[device_container_node-1] Found tpdo mapped object: index=6061 subindex=0
[device_container_node-1] Found tpdo mapped object: index=6064 subindex=0
[device_container_node-1] Found tpdo mapped object: index=606c subindex=0
[device_container_node-1] Found tpdo mapped object: index=6502 subindex=0
[device_container_node-1] Found tpdo mapped object: index=2106 subindex=6
[device_container_node-1] Found tpdo mapped object: index=2106 subindex=7
[device_container_node-1] Found tpdo mapped object: index=2106 subindex=8
[device_container_node-1] [WARN] [1698107834.139964130] [cia402_device_1]: Wait for device to boot.
[device_container_node-1] [ERROR] [1698107838.189203723] [cia402_device_1]: Boot Issue: Value of object 1000 from CANopen device is different to value in object 1F84 (Device type).
[device_container_node-1] [INFO] [1698107838.189305512] [cia402_device_1]: Driver booted and ready.
[device_container_node-1] [INFO] [1698107838.190193315] [cia402_device_1]: Starting with polling mode.
[device_container_node-1] [INFO] [1698107838.190657421] [cia402_device_1]: Starting with diagnostics enabled.
[device_container_node-1] [INFO] [1698107838.486655678] [cia402_device_1]: Slave 0x15: Switched NMT state to PREOP
[device_container_node-1] [INFO] [1698107848.524658844] [canopen_402_driver]: Init: Read State
[device_container_node-1] [INFO] [1698107848.524688561] [canopen_402_driver]: Init: Enable
[device_container_node-1] [INFO] [1698107848.530740815] [canopen_402_driver]: Fault reset
[device_container_node-1] [INFO] [1698107853.524838950] [canopen_402_driver]: Transition timed out.
[device_container_node-1] Could not enable motor
Setup:
- Device: Laptop
- OS: Ubuntu 22.04
- ROS-Distro: Humble
- Branch/Commit: Humble