difference between ELMO and SCHUNK about ros_canopen HOT 4 CLOSED

For running the test on the cob4-6, I had to do the following changes:

• canopen_master/src/node.cpp
  void Node::init(LayerStatus &status){
  nmt_listener_ = interface_->createMsgListener( can::MsgHeader(0x700 + node_id_), can::CommInterface::FrameDelegate(this, &Node::handleNMT));

  sdo_.init();
  try{
  reset_com();
  emcy_.recover();
  prepare();
  }
  ...

• canopen_master/src/emcy.cpp

  void EMCYHandler::read(LayerStatus &status)
  {
  /*
  if(error_register() & (~32)){ // mask device specific error
  status.error("Node has emergency error");
  }
  */

from ros_canopen.

This disables the error detection (incl. emergency stop) completely!
The EMCY handing and especially the reset need some more work, I will try to find some time for it next week.

from ros_canopen.

current state should work with both. needs to be tested

from ros_canopen.

Current implementation should work for most devices, if not specific issues should be filed.

from ros_canopen.