There is no manufacturer-specific EDS file available. Going on with the default dictionary...

[grafoteka]

Hi all,

I'm trying to control 6 Mxon MCD Epos with the kacanopen_example_motor_and_io_bridge node.
I have generate my EDS file with Maxon EPOS Studio and then check it with Vector CANeds program.

Then, I copy the file into the path /home/jorge/WS/kacanopen/src/kacanopen/master/share/eds_library/MaxonMotor

And modify the line 336 in the device.cpp file with:

std::string eds_path = "/home/jorge/WS/kacanopen/src/kacanopen/master/share/eds_library/MaxonMotor/maxon_motor_EPOS.eds";

But when I execute:

rosrun kacanopen kacanopen_example_motor_and_io_bridge

I have the error:

There is no manufacturer-specific EDS file available. Going on with the default dictionary...

Am I doing something wrong importing the file?

Thank you,
Jorge

[grafoteka]

Hi all,
I continue trying to get work the motors in velocity mode, but still stuck.

I try to load the default maxon epos2 eds file, but still having error.

Device 1: There is no manufacturer-specific EDS file available. Going on with the default dictionary...

Then it loads the default dictionary. Which it suppose to be the CiA_profiles/402.eds.

But then, I have the error:

terminate called after throwing an instance of 'std::runtime_error'
  what():  [JointStatePublisher] Only position mode supported yet. Try device.set_entry("modes_of_operation", device.get_constant("profile_position_mode"));
Aborted (core dumped)

I have modify in the file profile.cpp the operation mode according to Maxon Manual

{ "velocity_mode", static_cast<int8_t>(-2) },

But neither the velocity_mode nor the profile_velocity_mode works...

Am I forgetting some more modification?

Thank you

[OliEfr]

Try to place your maxon_eds file in the location of CiA_profiles/402.eds

[grafoteka]

I try it OliEfr, but finally the problem is that is not possible to control the motor in velocity profile, they haven't implemented that mode...

Hope, someone could help me to do it

[thk1]

I'll close this, because the eds_library problem seems to be solved. I see, you already filed a feature request for velocity mode support in the ROS bridge (issue #12).