Include upstream changes from 'master'.

ros-industrial · Oct 28, 2024 · 528cda4 · 528cda4
2 parents 7df87b2 + eb219eb
commit 528cda4
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diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml
@@ -0,0 +1,10 @@
+# Set update schedule for GitHub Actions
+
+version: 2
+updates:
+
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      # Check for updates to GitHub Actions every week
+      interval: "weekly"
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
@@ -12,12 +12,12 @@ jobs:
     name: Format
     runs-on: ubuntu-22.04
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions/setup-python@v2
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: 3.10.6
     - name: Install system hooks
       run: sudo apt update && sudo apt install -qq clang-format-14 cppcheck
-    - uses: pre-commit/action@v2.0.3
+    - uses: pre-commit/action@v3.0.1
       with:
         extra_args: --all-files --hook-stage manual
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -10,30 +10,30 @@ env:
 
 jobs:
   build-and-push-image:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
 
     permissions:
       contents: read
       packages: write
 
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Log in to the Container registry
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: ${{ env.REGISTRY }}
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
-      
+
       - name: Extract metadata (tags, labels) for Docker
         id: meta
-        uses: docker/metadata-action@v4
+        uses: docker/metadata-action@v5
         with:
           images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v6
         with:
           context: .
           push: true

diff --git a/.github/workflows/humble.yml b/.github/workflows/humble.yml
@@ -10,7 +10,7 @@ on:
 jobs:
   industrial_ci:
     name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
@@ -19,8 +19,8 @@ jobs:
     env:
       CCACHE_DIR: "${{ github.workspace }}/.ccache"
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions/cache@v2
+      - uses: actions/checkout@v4
+      - uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}

diff --git a/.github/workflows/humble_documentation.yml b/.github/workflows/humble_documentation.yml
@@ -14,12 +14,12 @@ jobs:
   # This workflow contains a single job called "build"
   build_documentation:
     # The type of runner that the job will run on
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: Install dependencies
         run: |

diff --git a/.github/workflows/iron.yml b/.github/workflows/iron.yml
@@ -10,7 +10,7 @@ on:
 jobs:
   industrial_ci:
     name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
@@ -19,8 +19,8 @@ jobs:
     env:
       CCACHE_DIR: "${{ github.workspace }}/.ccache"
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions/cache@v2
+      - uses: actions/checkout@v4
+      - uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
@@ -31,3 +31,4 @@ jobs:
           BEFORE_INSTALL_TARGET_DEPENDENCIES: 'sudo apt-get update'
           ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
           ROS_REPO: ${{ matrix.ROS_REPO }}
+          NOT_TEST_BUILD: 1
diff --git a/.github/workflows/iron_documentation.yml b/.github/workflows/iron_documentation.yml
@@ -14,12 +14,12 @@ jobs:
   # This workflow contains a single job called "build"
   build_documentation:
     # The type of runner that the job will run on
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: Install dependencies
         run: |

diff --git a/.github/workflows/prerelease-rolling.yml b/.github/workflows/prerelease-rolling.yml
@@ -9,14 +9,14 @@ on:
 jobs:
   industrial_ci:
     name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
         ROS_DISTRO: [rolling]
         ROS_REPO: [testing]
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - uses: 'ros-industrial/industrial_ci@master'
         env:
           BEFORE_INSTALL_TARGET_DEPENDENCIES: 'sudo apt-get update'

diff --git a/.github/workflows/rolling.yml b/.github/workflows/rolling.yml
@@ -10,17 +10,17 @@ on:
 jobs:
   industrial_ci:
     name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron]
+        ROS_DISTRO: [rolling]
         ROS_REPO: [testing]
     env:
       CCACHE_DIR: "${{ github.workspace }}/.ccache"
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions/cache@v2
+      - uses: actions/checkout@v4
+      - uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}

diff --git a/.github/workflows/rolling_documentation.yml b/.github/workflows/rolling_documentation.yml
@@ -14,12 +14,12 @@ jobs:
   # This workflow contains a single job called "build"
   build_documentation:
     # The type of runner that the job will run on
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: Install dependencies
         run: |

diff --git a/README.md b/README.md
@@ -6,23 +6,25 @@
 |---------------|--------|
 | Industrial CI Build | [![CI Build Status](https://github.com/ros-industrial/ros2_canopen/workflows/rolling/badge.svg?branch=master)](https://github.com/ros-industrial/ros2_canopen/actions) |
 | Documentation Build | [![CI Documentation Status](https://github.com/ros-industrial/ros2_canopen/workflows/Documentation/badge.svg?branch=master)](https://github.com/ros-industrial/ros2_canopen/actions) |
-| Buildfarm Build | [![Buildfarm Status](https://build.ros2.org/job/Rdev__ros2_canopen__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Rdev__ros2_canopen__ubuntu_jammy_amd64/) |
+| Buildfarm Build (rolling) | [![Buildfarm Status](https://build.ros2.org/job/Rdev__ros2_canopen__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Rdev__ros2_canopen__ubuntu_noble_amd64/) |
 
 The stack is currently under development and not yet ready for production use.
 
-| Binary Package (rolling) | Jammy | Rhel9 |
-|---------|-------|-------|
-| canopen_interfaces | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__canopen_interfaces__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__canopen_interfaces__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_interfaces__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_interfaces__rhel_9_x86_64__binary/) |
-| lely_core_libraries | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__lely_core_libraries__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__lely_core_libraries__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__lely_core_libraries__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__lely_core_libraries__rhel_9_x86_64__binary/) |
-| canopen_core | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__canopen_core__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__canopen_core__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_core__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_core__rhel_9_x86_64__binary/) |
-| canopen_master_driver | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__canopen_master_driver__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__canopen_master_driver__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_master_driver__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_master_driver__rhel_9_x86_64__binary/) |
-| canopen_base_driver | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__canopen_base_driver__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__canopen_base_driver__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_base_driver__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_base_driver__rhel_9_x86_64__binary/) |
-| canopen_proxy_driver | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__canopen_proxy_driver__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__canopen_proxy_driver__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_proxy_driver__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_proxy_driver__rhel_9_x86_64__binary/) |
-| canopen_402_driver | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__canopen_402_driver__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__canopen_402_driver__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_402_driver__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_402_driver__rhel_9_x86_64__binary/) |
-| canopen_ros2_control | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__canopen_ros2_control__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__canopen_ros2_control__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_ros2_control__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_ros2_control__rhel_9_x86_64__binary/) |
-| canopen_ros2_control | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__canopen_ros2_controllers__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__canopen_ros2_controllers__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_ros2_controllers__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_ros2_controllers__rhel_9_x86_64__binary/) |
-| canopen_tests | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__canopen_tests__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__canopen_tests__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_tests__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_tests__rhel_9_x86_64__binary/) |
-| canopen_utils | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__canopen_utils__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__canopen_utils__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_utils__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_utils__rhel_9_x86_64__binary/) |
+### Rolling Distribution (Noble & RHEL9)
+
+| Package                  | Noble (Ubuntu)                                                                                                                  | RHEL9                                                                                                                            |
+|--------------------------|---------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------------------------------------------|
+| canopen_interfaces       | [![Build Status](https://build.ros2.org/job/Rbin_uN64__canopen_interfaces__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__canopen_interfaces__ubuntu_noble_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_interfaces__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_interfaces__rhel_9_x86_64__binary/) |
+| lely_core_libraries      | [![Build Status](https://build.ros2.org/job/Rbin_uN64__lely_core_libraries__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__lely_core_libraries__ubuntu_noble_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__lely_core_libraries__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__lely_core_libraries__rhel_9_x86_64__binary/) |
+| canopen_core             | [![Build Status](https://build.ros2.org/job/Rbin_uN64__canopen_core__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__canopen_core__ubuntu_noble_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_core__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_core__rhel_9_x86_64__binary/) |
+| canopen_master_driver    | [![Build Status](https://build.ros2.org/job/Rbin_uN64__canopen_master_driver__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__canopen_master_driver__ubuntu_noble_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_master_driver__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_master_driver__rhel_9_x86_64__binary/) |
+| canopen_base_driver      | [![Build Status](https://build.ros2.org/job/Rbin_uN64__canopen_base_driver__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__canopen_base_driver__ubuntu_noble_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_base_driver__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_base_driver__rhel_9_x86_64__binary/) |
+| canopen_proxy_driver     | [![Build Status](https://build.ros2.org/job/Rbin_uN64__canopen_proxy_driver__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__canopen_proxy_driver__ubuntu_noble_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_proxy_driver__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_proxy_driver__rhel_9_x86_64__binary/) |
+| canopen_402_driver       | [![Build Status](https://build.ros2.org/job/Rbin_uN64__canopen_402_driver__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__canopen_402_driver__ubuntu_noble_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_402_driver__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_402_driver__rhel_9_x86_64__binary/) |
+| canopen_ros2_control     | [![Build Status](https://build.ros2.org/job/Rbin_uN64__canopen_ros2_control__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__canopen_ros2_control__ubuntu_noble_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_ros2_control__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_ros2_control__rhel_9_x86_64__binary/) |
+| canopen_ros2_controllers | [![Build Status](https://build.ros2.org/job/Rbin_uN64__canopen_ros2_controllers__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__canopen_ros2_controllers__ubuntu_noble_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_ros2_controllers__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_ros2_controllers__rhel_9_x86_64__binary/) |
+| canopen_tests            | [![Build Status](https://build.ros2.org/job/Rbin_uN64__canopen_tests__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__canopen_tests__ubuntu_noble_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_tests__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_tests__rhel_9_x86_64__binary/) |
+| canopen_utils            | [![Build Status](https://build.ros2.org/job/Rbin_uN64__canopen_utils__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__canopen_utils__ubuntu_noble_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Rbin_rhel_el964__canopen_utils__rhel_9_x86_64__binary/badge/icon)](https://build.ros2.org/job/Rbin_rhel_el964__canopen_utils__rhel_9_x86_64__binary/) |
 
 ## Documentation
 The documentation consists of two parts: a manual and an api reference.

diff --git a/canopen/CHANGELOG.rst b/canopen/CHANGELOG.rst
@@ -2,6 +2,43 @@
 Changelog for package canopen
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.2.9 (2024-04-16)
+------------------
+* Update maintainer list
+* Update package.xml
+* Add timeouts
+* Contributors: Vishnuprasad Prachandabhanu, ipa-vsp
+
+0.2.12 (2024-04-22)
+-------------------
+* Merge pull request `#280 <https://github.com/ros-industrial/ros2_canopen/issues/280>`_ from ipa-vsp/fix/yaml-build-error
+  Fix undefined reference to yaml library
+* pre-commit update
+* Merge pull request `#261 <https://github.com/ros-industrial/ros2_canopen/issues/261>`_ from gsalinas/configurable-sdo-timeout
+  Configurable SDO timeout
+* 0.2.9
+* forthcoming
+* Merge pull request `#272 <https://github.com/ros-industrial/ros2_canopen/issues/272>`_ from ros-industrial/ipa-vsp-patch-1
+  Update maintainer list
+* Update package.xml
+* Merge pull request `#220 <https://github.com/ros-industrial/ros2_canopen/issues/220>`_ from ipa-vsp/feature/timeout-config
+  Add timeouts
+* Add SDO timeout to device config documentation.
+* change from 100ms to 2000ms
+* timeout for booting slave
+* Contributors: Gerry Salinas, Vishnuprasad Prachandabhanu, ipa-vsp
+
+0.2.8 (2024-01-19)
+------------------
+* Documentation: Fix launch file spelling (`#208 <https://github.com/ros-industrial/ros2_canopen/issues/208>`_)
+* Documentation: Fix package creation command.  (`#176 <https://github.com/ros-industrial/ros2_canopen/issues/176>`_)
+  * Fix package creation
+  * Fixed bus.yml nodes list
+  * docs: fixed launch file path in instructions
+  ---------
+  Co-authored-by: waterlinux <[email protected]>
+* Contributors: Lewe Christiansen, Vishnuprasad Prachandabhanu
+
 0.2.7 (2023-06-30)
 ------------------
 * Update ros2_control docs.

diff --git a/canopen/package.xml b/canopen/package.xml
@@ -2,9 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>canopen</name>
-  <version>0.2.7</version>
+  <version>0.2.12</version>
   <description>Meta-package aggregating the ros2_canopen packages and documentation</description>
   <maintainer email="[email protected]">Christoph Hellmann Santos</maintainer>
+  <maintainer email="[email protected]">Vishnuprasad Prachandabhanu</maintainer>
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

diff --git a/canopen/sphinx/quickstart/examples.rst b/canopen/sphinx/quickstart/examples.rst
@@ -9,15 +9,15 @@ Service Interface
 
 .. code-block:: bash
 
-    ros2 launch canopen_tests ci402_setup.launch.py
+    ros2 launch canopen_tests cia402_setup.launch.py
 
 
 Managed Service Interface
 -------------------------
 
 .. code-block:: bash
 
-    ros2 launch canopen_tests ci402_lifecycle_setup.launch.py
+    ros2 launch canopen_tests cia402_lifecycle_setup.launch.py
 
 ROS2 Control
 ------------

diff --git a/canopen/sphinx/user-guide/cia402-driver.rst b/canopen/sphinx/user-guide/cia402-driver.rst
@@ -55,6 +55,9 @@ Services
   * - ~/cyclic_velocity_mode
     - Trigger
     - Switches to cyclic velocity mode
+  * - ~/cyclic_torque_mode
+    - Trigger
+    - Switches to cyclic torque mode
   * - ~/interpolated_position_mode
     - Trigger
     - Switches to interpolated position mode, only linear mode with fixed time is supported