Fixes required to follow tutorial #385
Conversation
|
|
||
| configuration item; description | ||
| node_id; The node-ID (default: 255) | ||
| node_id; The node-ID (e.g. 255) |
There was a problem hiding this comment.
Not specifying it in bus.yml gives an error.
| options: | ||
| dcf_path: install/{package_name}/share/{package_name}/config/{bus_config_name} | ||
| dcf_path: "@BUS_CONFIG_PATH@" |
| .. code-block:: yaml | ||
| nodes: | ||
| - [unique slave name]: |
There was a problem hiding this comment.
This should not be a list but a map.
|
|
||
| .. code-block:: console | ||
| mkdir launch |
There was a problem hiding this comment.
This directory was already created above.
| mkdir launch | ||
| touch {...}.launch.py | ||
| touch launch/{...}.launch.py |
There was a problem hiding this comment.
Added launch/ to indicate we're suddenly operating in different directories.
| launch/ | ||
| DESTINATION share/${PROJECT_NAME}/launch/ | ||
| launch | ||
| DESTINATION share/${PROJECT_NAME} |
There was a problem hiding this comment.
This is simply a cleanup. All other tutorials use this syntax, result is the same but this allows for more folders.
| ) | ||
| install(DIRECTORY | ||
| launch_tests/ |
There was a problem hiding this comment.
This directory simply does not exist.
| ) | ||
| if(BUILD_TESTING) |
There was a problem hiding this comment.
I think this is just noise on the tutorial.
| int boot_attempts = 0; | ||
| const int max_boot_attempts = 3; // 1 retry allowed | ||
| RCLCPP_WARN(this->node_->get_logger(), "Wait for device to boot..."); | ||
| RCLCPP_INFO(this->node_->get_logger(), "Wait for device to boot..."); |
There was a problem hiding this comment.
This is normal and expected/configured behavior
| std::string master_bin_; | ||
| std::string can_interface_name_; | ||
| uint32_t timeout_; | ||
| uint32_t timeout_ = 2000; |
There was a problem hiding this comment.
Single source of truth. The logging and the actual default were already out of date.
| find_package(canopen_core REQUIRED) | ||
| find_package(canopen_interfaces REQUIRED) | ||
| find_package(canopen_base_driver REQUIRED) | ||
| find_package(canopen_proxy_driver REQUIRED) |
1 participant
After following this tutorial: https://ros-industrial.github.io/ros2_canopen/manual/rolling/user-guide/how-to-create-a-configuration.html
I had some errors, so I tried to fix the documentation.