Why return false?

[wentGH]

ros2_canopen/canopen_402_driver/include/canopen_402_driver/node_interfaces/node_canopen_402_driver_impl.hpp

Line 645 in 9e4f6f2

return false;

[PedroCorcaque]

I think it's because in this implementation false means that no action was performed. So if the motor is disabled or if it is already in the target mode, the function does nothing and return false.

[wentGH]

ros2_canopen/canopen_ros2_control/src/robot_system.cpp

Line 265 in 9e4f6f2

return hardware_interface::return_type::ERROR;

This will cause this line to return an error if the state is already in the target mode. @PedroCorcaque

[PedroCorcaque]

You're right!
IMO returning a boolean when there are actually three possible states (action performed, action not performed or action failed) is a questionable design choice.

(BTW, I'm just a ros2_canopen user trying to understand the library, not one of the developers).