ros_canopen uses wrong COB-id for PDOs
PaulVerhoeckx opened this issue · 2 comments
Hi,
I am trying to control 2 drives using ros_canopen, see my ros_canopen configuration below and the PD4N.eds can be downloaded here.
canopen.yaml
bus:
device: can0 # socketcan network
sync:
interval_ms: 10 # set to 0 to disable sync
overflow: 0 # overflow sync counter at value or do not set it (0, default)
nodes:
wheel_left_joint:
id: 1
wheel_right_joint:
id: 2
defaults: # optional, all defaults can be overwritten per node
eds_pkg: snap_cart_driver
eds_file: "cfg/PD4N.eds"
motor_allocator: canopen::Motor402::Allocator
motor_layer:
switching_state: 2
dcf_overlay: # "ObjectID": "ParameterValue" (both as strings)
"1600sub0": "1" # Number of mapped objects RPDO1
"1600sub1": "0x60400010" # map Control Word to RPDO1
Trace
[ INFO] [1622540826.856333312]: Using fixed control period: 0.010000000
[ INFO] [1622540828.959749648]: Initializing...
[ INFO] [1622540828.960839256]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1622540828.961597711]: Current state: 2 device error: system:0 internal_error: 0 (OK)
[ERROR] [1622540829.253919240]: abort1400#1, reason: Invalid value for parameter (download only).
[ERROR] [1622540829.254181954]: Could not process message
[ INFO] [1622540829.260806585]: Current state: 2 device error: system:125 internal_error: 0 (OK)
[ INFO] [1622540829.261699522]: Current state: 0 device error: system:125 internal_error: 0 (OK)
[ INFO] [1622540829.262299067]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ INFO] [1622540829.262879757]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ERROR] [1622540829.263896447]: not operational; CAN not ready
[ERROR] [1622540829.264252445]: Initializing failed: /home/snap/snap_cart_ws/src/ros_canopen/canopen_master/src/sdo.cpp(429): Throw in function void canopen::SDOClient::transmitAndWait(const canopen::ObjectDict::Entry&, const canopen::String&, canopen::String*)
Dynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<canopen::TimeoutException> >
std::exception::what: SDO
[canopen::tag_objectdict_key*] = 1400sub1
When looking at the candump regarding this object (1400h), I noticed (in the last two lines) that after the RPDO mapping for the drive with node id 2 is done, the wrong COB-id is tried to be written to the drive (201 instead of 202) and a SDO error is returned.
Candump
(1622546939.737232) can0 601 [8] 40 00 14 01 00 00 00 00
(1622546939.737977) can0 581 [8] 43 00 14 01 01 02 00 00
(1622546939.738518) can0 601 [8] 23 00 14 01 01 02 00 80
(1622546939.739990) can0 581 [8] 60 00 14 01 00 00 00 00
(1622546939.740686) can0 601 [8] 2F 00 16 00 00 00 00 00
(1622546939.741979) can0 581 [8] 60 00 16 00 00 00 00 00
(1622546939.742785) can0 601 [8] 23 00 16 01 10 00 40 60
(1622546939.743980) can0 581 [8] 60 00 16 01 00 00 00 00
(1622546939.744874) can0 601 [8] 2F 00 16 00 01 00 00 00
(1622546939.745976) can0 581 [8] 60 00 16 00 00 00 00 00
(1622546939.746449) can0 601 [8] 23 00 14 01 01 02 00 00
(1622546939.747981) can0 581 [8] 60 00 14 01 00 00 00 00
(1622546939.885180) can0 602 [8] 40 00 14 01 00 00 00 00
(1622546939.885890) can0 582 [8] 43 00 14 01 02 02 00 00
(1622546939.887071) can0 602 [8] 23 00 14 01 02 02 00 80
(1622546939.887983) can0 582 [8] 60 00 14 01 00 00 00 00
(1622546939.888741) can0 602 [8] 2F 00 16 00 00 00 00 00
(1622546939.889833) can0 582 [8] 60 00 16 00 00 00 00 00
(1622546939.890892) can0 602 [8] 23 00 16 01 10 00 40 60
(1622546939.891857) can0 582 [8] 60 00 16 01 00 00 00 00
(1622546939.893035) can0 602 [8] 2F 00 16 00 01 00 00 00
(1622546939.893784) can0 582 [8] 60 00 16 00 00 00 00 00
(1622546939.894444) can0 602 [8] 23 00 14 01 01 02 00 00
(1622546939.895778) can0 582 [8] 80 00 14 01 30 00 09 06
When I remove the PDO mapping from my canopen.yaml, I obviously do not see this problem but I do notice that the control word for node 2 is send to the wrong COB-id (again to 201 instead of 202), the same holds for reading the status word. This practically let's ros_canopen control the CiA 402 Power State Machine twice for node id 1 and never for node id 2.
Is this a configuration issue or a bug? Any help would be appreciated!
System:
OS: Ubuntu 18.04
Kernel: 4.9.201-tegra
ROS: melodic
ros_canopen branch: melodic-devel
Drives: Nanotec ST5918L3008-B
Motor controller: Nanotec C5-E-1-09
I think your EDS is wrong.
In line 1080, the COB-ID is hard-coded as 0x201:
DefaultValue=513But it should depend on the NODEID:
DefaultValue=$NODEID+0x200Please check it with CANeds.
@ipa-mdl, thanks! Hard coded COB-ID's were indeed the problem.