Solution to "Wait for device to boot" with kinco motors, not with zeroerr motors.

[15906185391]

Describe the bug

I get the above error when I use a motor from kinco. With the help of friends, I learnt that this was due to an eds file issue. I need to modify the eds file so that the value in the file is just the same as the value returned by the kinco motor.

But with zeroerr motor, the above methods do not solve the problem. Motor not enabled. Maybe there's a problem with the motor's registers.

Do you have the same problem? Could you please help me?

Setup:

• Device: Kinco, Zeroerr motor
• OS: Ubuntu 22.04
• ROS-Distro: Iron
• Branch/Commit: Iron

[15906185391]

Also, I use with the ros2 differential drive controller, but it is not stable. I am confused and do not know how to solve it.

[ZeroErrControl]

Streamline your eRob integration with our latest open-source software, drivers, and examples now available on GitHub: github.com/ZeroErrControl
Find resources for:
• ROS2 & MoveIt2
• TwinCAT3 & Python
• CAN, CANopen, EtherCAT, SOEM
• Linux & Windows
• USD Files & LLM Control (Isaac Sim)
Explore the repositories and get started today!

[15906185391]

Streamline your eRob integration with our latest open-source software, drivers, and examples now available on GitHub: github.com/ZeroErrControl
Find resources for:
• ROS2 & MoveIt2
• TwinCAT3 & Python
• CAN, CANopen, EtherCAT, SOEM
• Linux & Windows
• USD Files & LLM Control (Isaac Sim)
Explore the repositories and get started today!

Thanks for the quick reply, but I haven't seen the exact code related to ros2_canopen, I've tried many times before with ros2_canopen, but it didn't work. Could you please help give a few examples based on ros2_control? Thanks so much!

[ZeroErrControl]

Describe the bug

I get the above error when I use a motor from kinco. With the help of friends, I learnt that this was due to an eds file issue. I need to modify the eds file so that the value in the file is just the same as the value returned by the kinco motor.

But with zeroerr motor, the above methods do not solve the problem. Motor not enabled. Maybe there's a problem with the motor's registers.

Do you have the same problem? Could you please help me?

Setup:

• Device: Kinco, Zeroerr motor
• OS: Ubuntu 22.04
• ROS-Distro: Iron
• Branch/Commit: Iron

The issue with "wait for device to boot" was found to be related to the master configuration file. After completing the compilation, replacing the master.dcf file in the directory:
install/canopen_tests/share/canopen_tests/config/cia_system/master.dcf
with the master.dcf file from the following repository:

https://github.com/ZeroErrControl/eRob_CANopen_Linux/tree/main/src/master.dcf

will resolve the problem. Once replaced, you can launch the system with:

ros2 launch canopen_tests cia402_system.launch.py

and it should work without issues.

[15906185391]

Describe the bug
I get the above error when I use a motor from kinco. With the help of friends, I learnt that this was due to an eds file issue. I need to modify the eds file so that the value in the file is just the same as the value returned by the kinco motor.
But with zeroerr motor, the above methods do not solve the problem. Motor not enabled. Maybe there's a problem with the motor's registers.
Do you have the same problem? Could you please help me?
Setup:

• Device: Kinco, Zeroerr motor
• OS: Ubuntu 22.04
• ROS-Distro: Iron
• Branch/Commit: Iron

The issue with "wait for device to boot" was found to be related to the master configuration file. After completing the compilation, replacing the master.dcf file in the directory: install/canopen_tests/share/canopen_tests/config/cia_system/master.dcf with the master.dcf file from the following repository:

https://github.com/ZeroErrControl/eRob_CANopen_Linux/tree/main/src/master.dcf

will resolve the problem. Once replaced, you can launch the system with:

ros2 launch canopen_tests cia402_system.launch.py

and it should work without issues.

Thank you very much! I will try it this week.