Boot Issue: 1018:02 <-> 1F86 #375
Description
igus_dryve_D1_4PDO.txt
linak_actuator_v3_1.txt
Describe the bug
Hy.
I also have problems with booting my devices as mentioned in this issue: #146
The error: "Boot Issue: Value of object 1018:02 from CANopen device is different to value in object 1F86 (Product code)"
Out of the conversation in issue #146 I don't see the final fix for this.
In total i need to run 16 devices from 3 different vendors (Linak, Igus, Interroll). Right now I'm only testing one vendor after the other and no matter what device I want to use, i get this error.
What is the solution for this issue?
What I already tested
I already tried to set the correct product id in 1018h2 as mentioned here
I also check if the fix from #147 exists on my system, it does.
In general, when i set "boot: false", I'm able to communicate with the devices.
Part of my bus.yml for 1 Linak and 1 Igus Dryve
options:
dcf_path: "@BUS_CONFIG_PATH@"
master:
node_id: 1
driver: "ros2_canopen::MasterDriver"
package: "canopen_master_driver"
namespace: "/"
baudrate: 250
sync_period: 10000 # µs = 10 ms
igus_joint:
node_id: 14
dcf: "igus_dryve_D1_4PDO.eds"
driver: "ros2_canopen::Cia402Driver"
package: "canopen_402_driver"
namespace: "/"
heartbeat_consumer: true
reset_communication: false
boot: true
polling: true
period: 10 # ms
position_mode: 1
velocity_mode: 3
tpdo:
1:
enabled: true
cob_id: "auto"
transmission: 0x0A
mapping:
- {index: 0x6041, sub_index: 0} # status word
2:
enabled: true
cob_id: "auto"
transmission: 0x0A
mapping:
- {index: 0x6064, sub_index: 0} # Position Actual Value
rpdo:
1:
enabled: true
cob_id: "auto"
transmission: 0x01
mapping:
- {index: 0x6040, sub_index: 0} # Control Word
2:
enabled: true
cob_id: "auto"
transmission: 0x01
mapping:
- {index: 0x60FF, sub_index: 0} # Target Velocity
linak_joint:
node_id: 28 # TPD
dcf: "linak_actuator_v3_1.eds"
driver: "ros2_canopen::ProxyDriver"
package: "canopen_proxy_driver"
namespace: "/"
heartbeat_consumer: true
reset_communication: false
boot: false
tpdo:
1:
enabled: true
cob_id: 0x19C
mapping:
- {index: 0x2001, sub_index: 1, type: uint16} # Curr PositionSetup:
- Device: Lenovo ThinkPad P15 Gen 2i
- OS: Ubuntu 22.04.5 LTS
- ROS-Distro: Humble
- Branch/Commit: installed via apt
EDS-Files
The eds files from Igus and Linak are attached. I needed to change the file extension to .txt, because .eds is not allowed
Thanks in advance.