Not compatible with CombinedRobotHW

[ivan140]

Hi,

When trying to follow this CombinedRobotHW tutorial I discovered, that ros_canopen is not capable of supporting the necessary class loader plugin. Are there any plans on adding this capability?

The files in question are:

• ros_canopen/canopen_motor_node/include/canopen_motor_node/robot_layer.h

• ros_canopen/canopen_motor_node/include/canopen_motor_node/robot_layer.cpp

The big advantage of this would be the possibility to add custom CAN devices or even Serial controlled devices to a robot running on the CANopen stack.

[mathias-luedtke]

Are there any plans on adding this capability?

No, this it not planned. For now canopen_motor_node manages the ros_control and not the other way around.

[bxc237]

Hi @ivan140, I am encountering this issue as well, did you find a way to solve it?

[ivan140]

@bxc237 I luckily have just a passive rotating joint. To solve the upper mentioned issue I added a simple publisher, which publishes the encoder values to the /joint_states topic. This way I now have two different publishers:
CANopen ros_control:
[wheel_left, wheel_right]

Custom encoder node:
[body_joint]

It seems the robot_state_publisher is handling this setup just fine, so for me it was a good workaround.

[mathias-luedtke]

@ivan140: If you want to improve your setup even further, add a joint_state_publisher in between. This will reduce the load of robot_state_publisher and all other nodes, which consume /joint_states or /tf. This is especially useful for MoveIt, which runs collisions checks on each update.