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repository: git://github.com/neobotix/neo_driver

cob_base_drive_chain

This package is a ros interface for controlling multiple can-open motors via ros.

Topics to subscribe / publish and configuration parameters

Subscribed Topics

cmd_joint_traj (trajectory_msgs/JointTrajectory)

• send drive commands to each drive

Published Topics

joint_states (sensor_msgs/JointState)

• publishes the joint state of each drive

Parameters

numberOfMotors ()

• how many motors are connected to the can network?

maxDriveRate ()

• how fast can the drives turn?

cycleRate ()

• how often per second should the can network be queried

can ()

• how is the computer connected to the can network?: [0: Dongle, 1: USB, 2: PCI ]

devicePath ()

• what is the can device path ( for example /dev/pcanepp24 )

NetESD ()

• network of esd cards? [0: no, 1: yes]

BaudrateVal ()

• [0: 1000 kbit/s, 1: 500 kbit/s, 2: 250 kbit/s, 3: 125 kbit/s, 4: 50 kbit/s, 5: 20 kbit/s, 6: 10 kbit/s]

drive*/GearEfficiency ()

• the efficiency of the gear (e.g. 0.9 )

CheckJointNames ()

• check jointnames in the incomming joint trajectory [true/false]

HomeAllAtOnce ()

• home all drives at the same time [true/false]

GenericBufferLen ()

• the buffer length

drive*/control_type ()

• the control_type of drive nr. * [2: velocity control, 1: position control, 0: torque control]

drive*/joint_name ()

• what's the joint name of drive nr. * ( for example front_wheel_joint )

drive*/EncIncrPerRevMot ()

• how many encoder increments are measured per revolution

drive*/VelMeasFrqHz ()

• how many increments can be maximal returned per second?

drive*/GearRatio ()

• the gear ratio

drive*/BeltRatio ()

• the belt ratio

drive*/Sign ()

• the direction of the motor [1, -1]

drive*/VelMaxEncIncrS ()

• the maximal velocity of drive nr. *

drive*/AccIncrS ()

• the max. motor acceleration in increments per second^2

drive*/DecIncrS ()

• ()

drive*/Homing ()

• do you want to home this drive [true/false]

drive*/HomePos ()

• the zero position offset in increments

drive*/HomeVelRadS ()

• the home velocity in rad per second

drive*/HomeEvent ()

• the type of home event

drive*/HomeDigIn ()

• the homedigin

drive*/HomeTimeOut ()

• after this time the homing procedure times out

drive*/HomeCoupleID ()

• If this parameter is set, the parameter specifies the can id of a drive which should be coupled to the homed drive

drive*/HomeCoupleRadS ()

• this parameter sets the velocity of the coupled drive

drive*/VelPModeEncIncrS ()

• ()

drive*/CANId ()

• the can identifier for motor nr * (for example 0 )

Troubleshooting

the neo_base_drive_can_node does not start properly

are the pcan modules are loaded properly?

• lsmod | grep pcan

or

• cat /proc/pcan

if these modules are not loaded you can try:

• # sudo modprobe pcan

or

• #insmod /path/to/pcan.ko

if this still fails you've to rebuild the pcan drivers.

/proc/pcan exists but i fail to communicate with it

cat /proc/pcan should display your device (for example [dng] or [usb] ) if not you've to recompile the pcan driver with your modules included.

I don't receive any can message although I can send motor commands:

set the pcan net_dev compile flag to false and recompile the pcan driver

neo_base_drive_can fails to load the parameters for my drives

make sure that the configuration ( param: drive*/) exists for every drive ( param: numberOfMotors )

Add your own Problem and Solution here