Could not switch to mode 1, reason: Mode switch timed out.
zouzhe1 opened this issue · 1 comments
zouzhe1 commented
1，My error info：
roslaunch lichuan_ros_canopen lichuan_canopen_motor_1dof_ppm_hm.launch
rosservice call /lichuan/driver/init
[ INFO] [1665817526.729889272]: Initializing successful
Loaded '/lichuan/canopen_motor/joint_state_controller'
Loaded '/lichuan/canopen_motor/base_link1_joint_position_controller'
Started ['/lichuan/canopen_motor/joint_state_controller'] successfully
[ERROR] [1665817531.866585648]: Could not switch to mode 1, reason: Mode switch timed out.
[ERROR] [1665817531.866793471]: base_link1_jointcould not enter mode 1
[ERROR] [1665817531.866974888]: Could not switch one joint for /lichuan/canopen_motor/base_link1_joint_position_controller, will stop all related joints and the controller.
[ERROR] [1665817531.873886624]: Could not switch one joint for /lichuan/canopen_motor/base_link1_joint_position_controller, will stop all related joints and the controller.
Started ['/lichuan/canopen_motor/base_link1_joint_position_controller'] successfully
[lichuan/controller_spawner-3] process has finished cleanly
2，note：
https://github.com/Roboprotos/maxon_epos4_ros1/tree/master/maxon_epos4_ros_canopen
when i use maxon ros canopen link code change to my motor，it happen so error.
3，my info:
raspberry4B +ubuntu server 20.04 +USBCAN
motor driver support：PP PV HM
3.1my yaml1
bus:
device: can0 # socketcan network
# loopback: false # socket should loop back messages
# driver_plugin: can::SocketCANInterface
master_allocator: canopen::SimpleMaster::Allocator
sync:
interval_ms: 10 # 10 ms is recommended for non real-time systems, set to 0 to disable sync
# update_ms: <interval_ms> #update interval of control loop, must be set explecitly if sync is disabled
overflow: 0 # overflow sync counter at value or do not set it (0, default)
heartbeat: # simple heartbeat producer, optional!
rate: 20 # heartbeat rate
msg: "77f#05" # message to send, cansend format: heartbeat of node 127 with status 5=Started
3.2my yaml2
joint_names: [base_link1_joint]
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Settings of the controller and assossiated drive modes
# drive mode : see http://wiki.ros.org/canopen_402
# position controllers
# example using Profiled Position (1) drive mode
joint_group_position_controller:
type: position_controllers/JointGroupPositionController
joints:
- base_link1_joint
required_drive_mode: 1
base_link1_joint_position_controller:
type: position_controllers/JointPositionController
joint: base_link1_joint
required_drive_mode: 1
3.3my yaml3
# struct syntax
nodes:
node1:
id: 1
name: base_link1_joint
eds_pkg: lichuan_ros_canopen # optionals package name for relative path
eds_file: "config/LCok10141839.eds" #hc.eds"# path to EDS/DCF file
#encoder_resolution: 4000
#vel_to_device: "vel" # rad/s -> mdeg/s
#vel_from_device: "obj606C" # actual velocity [mdeg/s] -> rad/s
defaults: # optional, all defaults can be overwritten per node
# eds_pkg: my_config_package # optional package name for relative path
# eds_file: "my_config.dcf" # path to EDS/DCF file
dcf_overlay: # "ObjectID": "ParameterValue" (both as strings)
# Homing mode settings
"6098": "0" # Homing method (set to 0 for "No homing operation required") #lbadd
# # "6065": "2000" # Following error window
# # "30B1": "1000" # Home offset move distance
# # "607F": "1300" # Max profile velocity
# # "6085": "10000" # Quick stop deceleration
# "6099sub1": "100" # Speed for switch search #ok
# "6099sub2": "10" # Speed for zero search #ok
# "609A": "1000" # Homing acceleration #ok
# # "30B0": "0" # Home position
# # "30B2": "1500" # Current threshold for homing mode
# # "1016sub1" : "0x7F0064" # heartbeat timeout of 100 ms for master at 127
# # "1017": "100" # heartbeat producer
"6040": "0" #init SM
#"200E": "5" #set init speed rad/min
"6083": "100" #set + speed
"6084": "100" #set - speed
"6098": "0"
# canopen_chain_node settings ..
motor_allocator: canopen::Motor402::Allocator # select allocator for motor layer
# motor_layer: settings passed to motor layer (plugin-specific)
switching_state: 15 # (Operation_Enable), state for mode switching. Drive mode of operation from canopen_402 wiki
# pos_to_device: "rint(rad2deg(pos)*1000)" # rad -> mdeg
# pos_from_device: "deg2rad(obj6064)/1000" # actual position [mdeg] -> rad
pos_to_device: "pos" # inc
pos_from_device: "obj6064" # inc
vel_to_device: "vel" # rpm
vel_from_device: "obj606C" # rpm
eff_to_device: "rint(eff)" # just round to integer
eff_from_device: "0" # unset
3.4 my launch
<?xml version="1.0"?>
<launch>
<group ns="/lichuan">
<!-- Load the URDF into ROS parameter server -->
<param name="/lichuan/robot_description" command="$(find xacro)/xacro '$(find lichuan_ros_canopen)/urdf/lichuan_1dof_ppm_lb.xacro'"/>
<node name="canopen_motor" pkg="canopen_motor_node" type="canopen_motor_node" output="screen" clear_params="true" >
<rosparam command="load" file="$(find lichuan_ros_canopen)/config/canopen_bus_layer_lb.yaml" />
<rosparam command="load" file="$(find lichuan_ros_canopen)/config/controller_1dof_ppm_lb.yaml" />
<rosparam command="load" file="$(find lichuan_ros_canopen)/config/node_layer_1dof_ppm_hm_lb.yaml" />
</node>
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="spawn
/lichuan/canopen_motor/joint_state_controller
/lichuan/canopen_motor/base_link1_joint_position_controller
"/>
</group>
</launch>
3.5my urdf xacro
<?xml version="1.0"?>
<!-- maxon EPOS4 example with 1 DOF -->
<robot name="maxon_epos4" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Base Link -->
<link name="base_link">
</link>
<!-- Link1 Link -->
<link name="link1_link">
</link>
<!-- Joint between Base Link and Link1 Link -->
<joint name="base_link1_joint" type="revolute">
<parent link="base_link"/>
<child link="link1_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<!--dynamics damping="0.7"/-->
<limit effort="100.0" velocity="100000" lower="-100000.0" upper="100000.0"/>
</joint>
<transmission name="transmission_base_link1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="base_link1_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="link1_maxon_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>
3.5 my EDS file
here ：
Motor_EDSfile.zip
4, my candump
b@raspberrypi:~$ candump can0
can0 000 [2] 82 01
can0 701 [1] 00
can0 601 [8] 2B 17 10 00 00 00 00 00
can0 581 [8] 60 17 10 00 00 00 00 00
can0 000 [2] 01 01
can0 181 [7] 50 80 78 00 00 00 00
can0 201 [7] 06 01 78 00 00 00 01
can0 181 [7] 31 80 78 00 00 00 00
can0 080 [0]
can0 201 [7] 07 01 78 00 00 00 01
can0 181 [7] 33 80 78 00 00 00 00
can0 080 [0]
can0 201 [7] 0F 01 78 00 00 00 01
...
lots of can0 080 [0]
...
can0 181 [7] 37 80 78 00 00 00 00
can0 080 [0]
can0 080 [0]
can0 601 [8] 40 01 10 00 00 00 00 00
can0 581 [8] 4F 01 10 00 00 00 00 00
can0 080 [0]
can0 601 [8] 2F 03 10 00 00 00 00 00
can0 581 [8] 60 03 10 00 00 00 00 00
can0 080 [0]
can0 77F [1] 05
can0 080 [0]
can0 77F [1] 05
can0 080 [0]
can0 201 [7] 0F 01 78 00 00 00 01
can0 080 [0]
can0 77F [1] 05
can0 080 [0]
can0 77F [1] 05
can0 080 [0]
can0 77F [1] 05
can0 77F [1] 05
can0 601 [8] 40 01 10 00 00 00 00 00
can0 581 [8] 4F 01 10 00 00 00 00 00
can0 080 [0]
can0 77F [1] 05
can0 080 [0]
can0 77F [1] 05
can0 080 [0]
can0 77F [1] 05
can0 080 [0]
can0 201 [7] 0B 01 78 00 00 00 00
can0 181 [7] 17 80 78 00 00 00 00
can0 080 [0]
can0 77F [1] 05
can0 080 [0]
can0 181 [7] 50 80 78 00 00 00 00
can0 77F [1] 05
can0 080 [0]
can0 000 [2] 02 01
zouzhe1 commented
I don't know what I should do?
I only have one motor. I set the motor drive ID to 1. Why are all hexes 70xx? I think it should be 60xx.
I'm a novice in canopen and I'm also a novice in C++.
I hope you can help to designate it.
thank you.