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@mcbed we had some success with using the perform-switch function in system interface in ros2_canopen. It switches the mode depending on the claimed interface. This has the advantage that you can achieve behavior similar to a robot driver (e.g. ur). Probably depends on the targeted use case. |
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@ipa-cmh thanks for the hint, we will try to add this feature in the near future together with lifecycle management in ros2_control |
JensVanhooydonck
suggested changes
Apr 23, 2024
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Seems there is a mismatch in amount of command interfaces and the offset when targeting each command interface
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| controller_interface::InterfaceConfiguration conf; | ||
| conf.type = controller_interface::interface_configuration_type::INDIVIDUAL; | ||
| conf.names.reserve(dof_names_.size() * 2); |
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This should be * 3
| } | ||
| } | ||
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| command_interfaces_[2 * i + 1].set_value(mode_ops_[i]); // mode_of_operation |
| } | ||
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| command_interfaces_[2 * i + 1].set_value(mode_ops_[i]); // mode_of_operation | ||
| command_interfaces_[2 * i + 2].set_value(reset_faults_[i]); // reset_fault |
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Works good for me with the changes above. |
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This PR resolves issue #46.
Controller features for
ec_generic_cia402:status_wordmode_of_operationmode_of_operationusing servicesfault_resetservice