ROS2用CANopenは、ros2_Controlを使うようです。現時点で、ros2_Controlが何かわかっていません。CANopen関連は、複数見つかりますが、メンテされているのは、下記のだけのように見えます。
でっかいプログラム群に見えます。うごくか！な？
環境
- Raspberry Pi 5 8GB
- 追加ボード；NVMe Base for Raspberry Pi 5 (NVMe Base by Pimoroni)
- Crucial クルーシャル P2シリーズ 500GB 3D NAND NVMe PCIe M.2 SSD CT500P2SSD8
- Ubuntu Desktop 24.04LTS(64-bit)
- ROS2；Jazzy
使用したモータ
CANopenに対応したオリエンタルモーター のブラシレスモーターBLVシリーズ Rタイプを使います。
BLMR5100K-A-B + BLVD-KRD
ラズパイ5でCANバスを有効にする
CANバスを有効にし、ros2コマンドが利用できるようにします。
$ sudo /sbin/ip link set can0 up type can bitrate 1000000
$ source /opt/ros/jazzy/setup.bash
随時インストールを実行し、足らないツールはその都度インストールする
を参照しながら、CANopenを使います。
Installation
GitHubからソースをダウンロードします。
rosdepをインストールします。このツールは、ROSの依存関係を確認・解釈・解決・更新してくれるそうです。
$ git clone https://github.com/ros-industrial/ros2_canopen.git
$ cd ..
$ sudo apt install python3-rosdep
$ sudo rosdep init
$ rosdep update
インストールを開始します。
yoshi@yoshi:~$ rosdep install --from-paths ros2_canopen --ignore-src -r -y
executing command [sudo -H apt-get install -y libboost-all-dev]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
autoconf automake autotools-dev gfortran gfortran-13 gfortran-13-aarch64-linux-gnu
gfortran-aarch64-linux-gnu icu-devtools libboost-atomic-dev libboost-atomic1.83-dev
libboost-atomic1.83.0 libboost-chrono-dev libboost-chrono1.83-dev libboost-chrono1.83.0t64
libboost-container-dev libboost-container1.83-dev libboost-container1.83.0
libboost-context-dev libboost-context1.83-dev libboost-context1.83.0 libboost-coroutine-dev
libboost-coroutine1.83-dev libboost-coroutine1.83.0 libboost-date-time-dev
libboost-date-time1.83-dev libboost-date-time1.83.0 libboost-dev libboost-exception-dev
libboost-exception1.83-dev libboost-fiber-dev libboost-fiber1.83-dev libboost-fiber1.83.0
libboost-filesystem-dev libboost-filesystem1.83-dev libboost-graph-dev
libboost-graph-parallel-dev libboost-graph-parallel1.83-dev libboost-graph-parallel1.83.0
libboost-graph1.83-dev libboost-graph1.83.0 libboost-iostreams-dev libboost-iostreams1.83-dev
libboost-json-dev libboost-json1.83-dev libboost-json1.83.0 libboost-locale-dev
libboost-locale1.83-dev libboost-log-dev libboost-log1.83-dev libboost-log1.83.0
libboost-math-dev libboost-math1.83-dev libboost-math1.83.0 libboost-mpi-dev
libboost-mpi-python-dev libboost-mpi-python1.83-dev libboost-mpi-python1.83.0
libboost-mpi1.83-dev libboost-mpi1.83.0 libboost-nowide-dev libboost-nowide1.83-dev
libboost-nowide1.83.0 libboost-numpy-dev libboost-numpy1.83-dev libboost-numpy1.83.0
libboost-program-options-dev libboost-program-options1.83-dev libboost-program-options1.83.0
libboost-python-dev libboost-python1.83-dev libboost-random-dev libboost-random1.83-dev
libboost-random1.83.0 libboost-regex-dev libboost-regex1.83-dev libboost-regex1.83.0
libboost-serialization-dev libboost-serialization1.83-dev libboost-serialization1.83.0
libboost-stacktrace-dev libboost-stacktrace1.83-dev libboost-stacktrace1.83.0
libboost-system-dev libboost-system1.83-dev libboost-system1.83.0 libboost-test-dev
libboost-test1.83-dev libboost-test1.83.0 libboost-thread-dev libboost-thread1.83-dev
libboost-timer-dev libboost-timer1.83-dev libboost-timer1.83.0 libboost-tools-dev
libboost-type-erasure-dev libboost-type-erasure1.83-dev libboost-type-erasure1.83.0
libboost-url-dev libboost-url1.83-dev libboost-url1.83.0 libboost-wave-dev
libboost-wave1.83-dev libboost-wave1.83.0 libboost1.83-dev libboost1.83-tools-dev
libcaf-openmpi-3t64 libcoarrays-dev libcoarrays-openmpi-dev libevent-dev
libevent-extra-2.1-7t64 libevent-openssl-2.1-7t64 libgfortran-13-dev libhwloc-dev
libibverbs-dev libicu-dev libltdl-dev libnl-3-dev libnl-route-3-dev libnuma-dev
libopenmpi-dev libpmix-dev libtool m4 mpi-default-bin mpi-default-dev openmpi-bin
openmpi-common
Suggested packages:
autoconf-archive gnu-standards autoconf-doc gettext gfortran-doc gfortran-13-doc libboost-doc
libboost1.83-doc gccxml libboost-contract1.83-dev libmpfrc++-dev libntl-dev xsltproc doxygen
docbook-xsl default-jdk fop icu-doc libtool-doc openmpi-doc gcj-jdk m4-doc
The following NEW packages will be installed:
autoconf automake autotools-dev gfortran gfortran-13 gfortran-13-aarch64-linux-gnu
gfortran-aarch64-linux-gnu icu-devtools libboost-all-dev libboost-atomic-dev
libboost-atomic1.83-dev libboost-atomic1.83.0 libboost-chrono-dev libboost-chrono1.83-dev
libboost-chrono1.83.0t64 libboost-container-dev libboost-container1.83-dev
libboost-container1.83.0 libboost-context-dev libboost-context1.83-dev libboost-context1.83.0
libboost-coroutine-dev libboost-coroutine1.83-dev libboost-coroutine1.83.0
libboost-date-time-dev libboost-date-time1.83-dev libboost-date-time1.83.0 libboost-dev
libboost-exception-dev libboost-exception1.83-dev libboost-fiber-dev libboost-fiber1.83-dev
libboost-fiber1.83.0 libboost-filesystem-dev libboost-filesystem1.83-dev libboost-graph-dev
libboost-graph-parallel-dev libboost-graph-parallel1.83-dev libboost-graph-parallel1.83.0
libboost-graph1.83-dev libboost-graph1.83.0 libboost-iostreams-dev libboost-iostreams1.83-dev
libboost-json-dev libboost-json1.83-dev libboost-json1.83.0 libboost-locale-dev
libboost-locale1.83-dev libboost-log-dev libboost-log1.83-dev libboost-log1.83.0
libboost-math-dev libboost-math1.83-dev libboost-math1.83.0 libboost-mpi-dev
libboost-mpi-python-dev libboost-mpi-python1.83-dev libboost-mpi-python1.83.0
libboost-mpi1.83-dev libboost-mpi1.83.0 libboost-nowide-dev libboost-nowide1.83-dev
libboost-nowide1.83.0 libboost-numpy-dev libboost-numpy1.83-dev libboost-numpy1.83.0
libboost-program-options-dev libboost-program-options1.83-dev libboost-program-options1.83.0
libboost-python-dev libboost-python1.83-dev libboost-random-dev libboost-random1.83-dev
libboost-random1.83.0 libboost-regex-dev libboost-regex1.83-dev libboost-regex1.83.0
libboost-serialization-dev libboost-serialization1.83-dev libboost-serialization1.83.0
libboost-stacktrace-dev libboost-stacktrace1.83-dev libboost-stacktrace1.83.0
libboost-system-dev libboost-system1.83-dev libboost-system1.83.0 libboost-test-dev
libboost-test1.83-dev libboost-test1.83.0 libboost-thread-dev libboost-thread1.83-dev
libboost-timer-dev libboost-timer1.83-dev libboost-timer1.83.0 libboost-tools-dev
libboost-type-erasure-dev libboost-type-erasure1.83-dev libboost-type-erasure1.83.0
libboost-url-dev libboost-url1.83-dev libboost-url1.83.0 libboost-wave-dev
libboost-wave1.83-dev libboost-wave1.83.0 libboost1.83-dev libboost1.83-tools-dev
libcaf-openmpi-3t64 libcoarrays-dev libcoarrays-openmpi-dev libevent-dev
libevent-extra-2.1-7t64 libevent-openssl-2.1-7t64 libgfortran-13-dev libhwloc-dev
libibverbs-dev libicu-dev libltdl-dev libnl-3-dev libnl-route-3-dev libnuma-dev
libopenmpi-dev libpmix-dev libtool m4 mpi-default-bin mpi-default-dev openmpi-bin
openmpi-common
0 upgraded, 128 newly installed, 0 to remove and 5 not upgraded.
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Get:115 http://ports.ubuntu.com/ubuntu-ports noble/universe arm64 libboost-url1.83.0 arm64 1.83.0-2.1ubuntu3 [342 kB]
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Get:118 http://ports.ubuntu.com/ubuntu-ports noble/universe arm64 libboost-wave1.83.0 arm64 1.83.0-2.1ubuntu3 [448 kB]
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Get:121 http://ports.ubuntu.com/ubuntu-ports noble/universe arm64 libboost-nowide1.83.0 arm64 1.83.0-2.1ubuntu3 [241 kB]
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Get:123 http://ports.ubuntu.com/ubuntu-ports noble/universe arm64 libboost-nowide-dev arm64 1.83.0.1ubuntu2 [4,136 B]
Get:124 http://ports.ubuntu.com/ubuntu-ports noble/universe arm64 libboost-all-dev arm64 1.83.0.1ubuntu2 [2,286 B]
Get:125 http://ports.ubuntu.com/ubuntu-ports noble/universe arm64 libcaf-openmpi-3t64 arm64 2.10.2+ds-2.1build2 [38.2 kB]
Get:126 http://ports.ubuntu.com/ubuntu-ports noble/universe arm64 libcoarrays-dev arm64 2.10.2+ds-2.1build2 [37.5 kB]
Get:127 http://ports.ubuntu.com/ubuntu-ports noble/universe arm64 libcoarrays-openmpi-dev arm64 2.10.2+ds-2.1build2 [330 kB]
Get:128 http://ports.ubuntu.com/ubuntu-ports noble/main arm64 libtool all 2.4.7-7build1 [166 kB]
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executing command [sudo -H apt-get install -y ros-jazzy-diagnostic-updater]
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The following NEW packages will be installed:
ros-jazzy-diagnostic-updater
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Setting up ros-jazzy-diagnostic-updater (4.2.1-1noble.20240922.090201) ...
executing command [sudo -H apt-get install -y ros-jazzy-hardware-interface]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
libdw-dev libelf-dev ros-jazzy-backward-ros ros-jazzy-control-msgs ros-jazzy-joint-limits
ros-jazzy-realtime-tools
The following NEW packages will be installed:
libdw-dev libelf-dev ros-jazzy-backward-ros ros-jazzy-control-msgs
ros-jazzy-hardware-interface ros-jazzy-joint-limits ros-jazzy-realtime-tools
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Get:3 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-control-msgs arm64 5.2.0-1noble.20240922.080337 [702 kB]
Get:4 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-realtime-tools arm64 2.6.0-1noble.20240922.113535 [28.0 kB]
Get:5 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-joint-limits arm64 4.18.0-1noble.20241007.224259 [55.0 kB]
Get:6 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-hardware-interface arm64 4.18.0-1noble.20241007.224647 [247 kB]
Get:7 http://ports.ubuntu.com/ubuntu-ports noble/main arm64 libdw-dev arm64 0.190-1.1build4 [341 kB]
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Selecting previously unselected package libelf-dev:arm64.
(Reading database ... 214231 files and directories currently installed.)
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Unpacking ros-jazzy-control-msgs (5.2.0-1noble.20240922.080337) ...
Selecting previously unselected package ros-jazzy-realtime-tools.
Preparing to unpack .../4-ros-jazzy-realtime-tools_2.6.0-1noble.20240922.113535_arm64.deb ...
Unpacking ros-jazzy-realtime-tools (2.6.0-1noble.20240922.113535) ...
Selecting previously unselected package ros-jazzy-joint-limits.
Preparing to unpack .../5-ros-jazzy-joint-limits_4.18.0-1noble.20241007.224259_arm64.deb ...
Unpacking ros-jazzy-joint-limits (4.18.0-1noble.20241007.224259) ...
Selecting previously unselected package ros-jazzy-hardware-interface.
Preparing to unpack .../6-ros-jazzy-hardware-interface_4.18.0-1noble.20241007.224647_arm64.deb ...
Unpacking ros-jazzy-hardware-interface (4.18.0-1noble.20241007.224647) ...
Setting up ros-jazzy-control-msgs (5.2.0-1noble.20240922.080337) ...
Setting up libelf-dev:arm64 (0.190-1.1build4) ...
Setting up ros-jazzy-realtime-tools (2.6.0-1noble.20240922.113535) ...
Setting up libdw-dev:arm64 (0.190-1.1build4) ...
Setting up ros-jazzy-backward-ros (1.0.5-1noble.20240709.092636) ...
Setting up ros-jazzy-joint-limits (4.18.0-1noble.20241007.224259) ...
Setting up ros-jazzy-hardware-interface (4.18.0-1noble.20241007.224647) ...
Processing triggers for man-db (2.12.0-4build2) ...
executing command [sudo -H apt-get install -y ros-jazzy-ros2-control-test-assets]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following NEW packages will be installed:
ros-jazzy-ros2-control-test-assets
0 upgraded, 1 newly installed, 0 to remove and 5 not upgraded.
Need to get 15.5 kB of archives.
After this operation, 146 kB of additional disk space will be used.
Get:1 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-ros2-control-test-assets arm64 4.18.0-1noble.20241007.224632 [15.5 kB]
Fetched 15.5 kB in 0s (34.6 kB/s)
Selecting previously unselected package ros-jazzy-ros2-control-test-assets.
(Reading database ... 215056 files and directories currently installed.)
Preparing to unpack .../ros-jazzy-ros2-control-test-assets_4.18.0-1noble.20241007.224632_arm64.deb ...
Unpacking ros-jazzy-ros2-control-test-assets (4.18.0-1noble.20241007.224632) ...
Setting up ros-jazzy-ros2-control-test-assets (4.18.0-1noble.20241007.224632) ...
executing command [sudo -H apt-get install -y ros-jazzy-xacro]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following NEW packages will be installed:
ros-jazzy-xacro
0 upgraded, 1 newly installed, 0 to remove and 5 not upgraded.
Need to get 28.8 kB of archives.
After this operation, 144 kB of additional disk space will be used.
Get:1 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-xacro arm64 2.0.11-2noble.20240702.040521 [28.8 kB]
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Selecting previously unselected package ros-jazzy-xacro.
(Reading database ... 215086 files and directories currently installed.)
Preparing to unpack .../ros-jazzy-xacro_2.0.11-2noble.20240702.040521_arm64.deb ...
Unpacking ros-jazzy-xacro (2.0.11-2noble.20240702.040521) ...
Setting up ros-jazzy-xacro (2.0.11-2noble.20240702.040521) ...
executing command [sudo -H apt-get install -y ros-jazzy-controller-manager]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
ros-jazzy-controller-interface ros-jazzy-controller-manager-msgs
The following NEW packages will be installed:
ros-jazzy-controller-interface ros-jazzy-controller-manager ros-jazzy-controller-manager-msgs
0 upgraded, 3 newly installed, 0 to remove and 5 not upgraded.
Need to get 714 kB of archives.
After this operation, 7,728 kB of additional disk space will be used.
Get:1 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-controller-interface arm64 4.18.0-1noble.20241007.225124 [47.0 kB]
Get:2 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-controller-manager-msgs arm64 4.18.0-1noble.20241007.224313 [341 kB]
Get:3 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-controller-manager arm64 4.18.0-1noble.20241007.225419 [326 kB]
Fetched 714 kB in 2s (465 kB/s)
Selecting previously unselected package ros-jazzy-controller-interface.
(Reading database ... 215126 files and directories currently installed.)
Preparing to unpack .../ros-jazzy-controller-interface_4.18.0-1noble.20241007.225124_arm64.deb ...
Unpacking ros-jazzy-controller-interface (4.18.0-1noble.20241007.225124) ...
Selecting previously unselected package ros-jazzy-controller-manager-msgs.
Preparing to unpack .../ros-jazzy-controller-manager-msgs_4.18.0-1noble.20241007.224313_arm64.deb ...
Unpacking ros-jazzy-controller-manager-msgs (4.18.0-1noble.20241007.224313) ...
Selecting previously unselected package ros-jazzy-controller-manager.
Preparing to unpack .../ros-jazzy-controller-manager_4.18.0-1noble.20241007.225419_arm64.deb ...
Unpacking ros-jazzy-controller-manager (4.18.0-1noble.20241007.225419) ...
Setting up ros-jazzy-controller-interface (4.18.0-1noble.20241007.225124) ...
Setting up ros-jazzy-controller-manager-msgs (4.18.0-1noble.20241007.224313) ...
Setting up ros-jazzy-controller-manager (4.18.0-1noble.20241007.225419) ...
executing command [sudo -H apt-get install -y ros-jazzy-joint-state-broadcaster]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
python3-typeguard ros-jazzy-generate-parameter-library
ros-jazzy-generate-parameter-library-py ros-jazzy-parameter-traits ros-jazzy-rsl
ros-jazzy-tcb-span ros-jazzy-tl-expected
The following NEW packages will be installed:
python3-typeguard ros-jazzy-generate-parameter-library
ros-jazzy-generate-parameter-library-py ros-jazzy-joint-state-broadcaster
ros-jazzy-parameter-traits ros-jazzy-rsl ros-jazzy-tcb-span ros-jazzy-tl-expected
0 upgraded, 8 newly installed, 0 to remove and 5 not upgraded.
Need to get 243 kB of archives.
After this operation, 1,335 kB of additional disk space will be used.
Get:1 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-generate-parameter-library-py arm64 0.3.8-4noble.20240702.050735 [51.2 kB]
Get:2 http://ports.ubuntu.com/ubuntu-ports noble/universe arm64 python3-typeguard all 4.1.5-1 [32.7 kB]
Get:3 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-tcb-span arm64 1.0.2-5noble.20240702.045307 [10.5 kB]
Get:4 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-tl-expected arm64 1.0.2-5noble.20240702.045705 [16.3 kB]
Get:5 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-rsl arm64 1.1.0-3noble.20240922.113828 [17.1 kB]
Get:6 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-parameter-traits arm64 0.3.8-4noble.20240922.114152 [9,778 B]
Get:7 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-generate-parameter-library arm64 0.3.8-4noble.20240922.115101 [8,328 B]
Get:8 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-joint-state-broadcaster arm64 4.15.0-1noble.20241007.225808 [96.8 kB]
Fetched 243 kB in 1s (243 kB/s)
Selecting previously unselected package python3-typeguard.
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Unpacking python3-typeguard (4.1.5-1) ...
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Unpacking ros-jazzy-tl-expected (1.0.2-5noble.20240702.045705) ...
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Preparing to unpack .../4-ros-jazzy-rsl_1.1.0-3noble.20240922.113828_arm64.deb ...
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Unpacking ros-jazzy-generate-parameter-library (0.3.8-4noble.20240922.115101) ...
Selecting previously unselected package ros-jazzy-joint-state-broadcaster.
Preparing to unpack .../7-ros-jazzy-joint-state-broadcaster_4.15.0-1noble.20241007.225808_arm64.deb ...
Unpacking ros-jazzy-joint-state-broadcaster (4.15.0-1noble.20241007.225808) ...
Setting up python3-typeguard (4.1.5-1) ...
Setting up ros-jazzy-tcb-span (1.0.2-5noble.20240702.045307) ...
Setting up ros-jazzy-generate-parameter-library-py (0.3.8-4noble.20240702.050735) ...
Setting up ros-jazzy-tl-expected (1.0.2-5noble.20240702.045705) ...
Setting up ros-jazzy-rsl (1.1.0-3noble.20240922.113828) ...
Setting up ros-jazzy-parameter-traits (0.3.8-4noble.20240922.114152) ...
Setting up ros-jazzy-generate-parameter-library (0.3.8-4noble.20240922.115101) ...
Setting up ros-jazzy-joint-state-broadcaster (4.15.0-1noble.20241007.225808) ...
executing command [sudo -H apt-get install -y ros-jazzy-joint-trajectory-controller]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
ros-jazzy-control-toolbox ros-jazzy-filters
The following NEW packages will be installed:
ros-jazzy-control-toolbox ros-jazzy-filters ros-jazzy-joint-trajectory-controller
0 upgraded, 3 newly installed, 0 to remove and 5 not upgraded.
Need to get 414 kB of archives.
After this operation, 2,272 kB of additional disk space will be used.
Get:1 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-filters arm64 2.1.2-2noble.20240922.093043 [75.4 kB]
Get:2 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-control-toolbox arm64 3.2.0-3noble.20240922.115331 [90.8 kB]
Get:3 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-joint-trajectory-controller arm64 4.15.0-1noble.20241007.225844 [247 kB]
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Unpacking ros-jazzy-filters (2.1.2-2noble.20240922.093043) ...
Selecting previously unselected package ros-jazzy-control-toolbox.
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Unpacking ros-jazzy-control-toolbox (3.2.0-3noble.20240922.115331) ...
Selecting previously unselected package ros-jazzy-joint-trajectory-controller.
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Setting up ros-jazzy-filters (2.1.2-2noble.20240922.093043) ...
Setting up ros-jazzy-control-toolbox (3.2.0-3noble.20240922.115331) ...
Setting up ros-jazzy-joint-trajectory-controller (4.15.0-1noble.20241007.225844) ...
executing command [sudo -H apt-get install -y ros-jazzy-forward-command-controller]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following NEW packages will be installed:
ros-jazzy-forward-command-controller
0 upgraded, 1 newly installed, 0 to remove and 5 not upgraded.
Need to get 118 kB of archives.
After this operation, 632 kB of additional disk space will be used.
Get:1 http://packages.ros.org/ros2/ubuntu noble/main arm64 ros-jazzy-forward-command-controller arm64 4.15.0-1noble.20241007.225528 [118 kB]
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Selecting previously unselected package ros-jazzy-forward-command-controller.
(Reading database ... 216031 files and directories currently installed.)
Preparing to unpack .../ros-jazzy-forward-command-controller_4.15.0-1noble.20241007.225528_arm64.deb ...
Unpacking ros-jazzy-forward-command-controller (4.15.0-1noble.20241007.225528) ...
Setting up ros-jazzy-forward-command-controller (4.15.0-1noble.20241007.225528) ...
executing command [sudo -H apt-get install -y autoconf]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
autoconf is already the newest version (2.71-3).
autoconf set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 5 not upgraded.
executing command [sudo -H apt-get install -y automake]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
automake is already the newest version (1:1.16.5-1.3ubuntu1).
automake set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 5 not upgraded.
executing command [sudo -H apt-get install -y libtool]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
libtool is already the newest version (2.4.7-7build1).
libtool set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 5 not upgraded.
executing command [sudo -H apt-get install -y libltdl-dev]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
libltdl-dev is already the newest version (2.4.7-7build1).
libltdl-dev set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 5 not upgraded.
executing command [sudo -H apt-get install -y libtool-bin]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following NEW packages will be installed:
libtool-bin
0 upgraded, 1 newly installed, 0 to remove and 5 not upgraded.
Need to get 84.0 kB of archives.
After this operation, 398 kB of additional disk space will be used.
Get:1 http://ports.ubuntu.com/ubuntu-ports noble/main arm64 libtool-bin arm64 2.4.7-7build1 [84.0 kB]
Fetched 84.0 kB in 1s (72.8 kB/s)
Selecting previously unselected package libtool-bin.
(Reading database ... 216071 files and directories currently installed.)
Preparing to unpack .../libtool-bin_2.4.7-7build1_arm64.deb ...
Unpacking libtool-bin (2.4.7-7build1) ...
Setting up libtool-bin (2.4.7-7build1) ...
Processing triggers for man-db (2.12.0-4build2) ...
executing command [sudo -H apt-get install -y ros-jazzy-controller-interface]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
ros-jazzy-controller-interface is already the newest version (4.18.0-1noble.20241007.225124).
ros-jazzy-controller-interface set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 5 not upgraded.
executing command [sudo -H apt-get install -y ros-jazzy-realtime-tools]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
ros-jazzy-realtime-tools is already the newest version (2.6.0-1noble.20240922.113535).
ros-jazzy-realtime-tools set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 5 not upgraded.
#All required rosdeps installed successfully
ビルドします。
yoshi@yoshi:~$ cd ros2_canopen
yoshi@yoshi:~/ros2_canopen$
yoshi@yoshi:~/ros2_canopen$ colcon build
Starting >>> canopen_interfaces
Starting >>> lely_core_libraries
[Processing: canopen_interfaces, lely_core_libraries]
Finished <<< canopen_interfaces [32.0s]
Starting >>> canopen_utils
Finished <<< canopen_utils [3.35s]
[Processing: lely_core_libraries]
--- stderr: lely_core_libraries
Cloning into 'upstream'...
/usr/lib/python3/dist-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated.
!!
********************************************************************************
Please avoid running ``setup.py`` directly.
Instead, use pypa/build, pypa/installer or other
standards-based tools.
See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
********************************************************************************
!!
self.initialize_options()
HEAD is now at b63a0b6f co: fix co_time_of_day_set() to actually store the result
Checking patch configure.ac...
Hunk #1 succeeded at 577 (offset 8 lines).
Checking patch python/dcf-tools/Makefile.am...
Applied patch configure.ac cleanly.
Applied patch python/dcf-tools/Makefile.am cleanly.
configure.ac:17: warning: The macro `AC_PROG_CC_STDC' is obsolete.
configure.ac:17: You should run autoupdate.
./lib/autoconf/c.m4:1666: AC_PROG_CC_STDC is expanded from...
configure.ac:17: the top level
configure.ac:442: warning: AC_CHECK_HEADERS($ixxat_header): you should use literals
./lib/autoconf/headers.m4:217: AC_CHECK_HEADERS is expanded from...
lib/m4sugar/m4sh.m4:699: AS_IF is expanded from...
lib/m4sugar/m4sh.m4:699: AS_IF is expanded from...
configure.ac:442: the top level
configure.ac:17: installing './compile'
configure.ac:6: installing './config.guess'
configure.ac:6: installing './config.sub'
configure.ac:7: installing './install-sh'
configure.ac:7: installing './missing'
configure.ac:610: installing './tap-driver.sh'
src/can/Makefile.am: installing './depcomp'
parallel-tests: installing './test-driver'
libtool: warning: relinking 'liblely-tap.la'
libtool: warning: relinking 'liblely-util.la'
libtool: warning: relinking 'liblely-can.la'
libtool: warning: relinking 'liblely-co.la'
libtool: warning: relinking 'liblely-io.la'
libtool: warning: relinking 'liblely-ev.la'
libtool: warning: relinking 'liblely-io2.la'
libtool: warning: relinking 'liblely-coapp.la'
/usr/lib/python3/dist-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated.
!!
********************************************************************************
Please avoid running ``setup.py`` directly.
Instead, use pypa/build, pypa/installer or other
standards-based tools.
See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
********************************************************************************
!!
self.initialize_options()
---
Finished <<< lely_core_libraries [1min 13s]
Starting >>> canopen_core
Starting >>> canopen_fake_slaves
Finished <<< canopen_fake_slaves [18.5s]
[Processing: canopen_core]
Finished <<< canopen_core [1min 9s]
Starting >>> canopen_base_driver
Starting >>> canopen_master_driver
[Processing: canopen_base_driver, canopen_master_driver]
Finished <<< canopen_base_driver [1min 0s]
Starting >>> canopen_proxy_driver
Finished <<< canopen_master_driver [1min 8s]
[Processing: canopen_proxy_driver]
Finished <<< canopen_proxy_driver [55.4s]
Starting >>> canopen_402_driver
[Processing: canopen_402_driver]
Finished <<< canopen_402_driver [52.6s]
Starting >>> canopen_ros2_controllers
Starting >>> canopen
Starting >>> canopen_ros2_control
Finished <<< canopen [1.11s]
[Processing: canopen_ros2_control, canopen_ros2_controllers]
Finished <<< canopen_ros2_control [33.0s]
Finished <<< canopen_ros2_controllers [38.5s]
Starting >>> canopen_tests
Finished <<< canopen_tests [4.12s]
Summary: 13 packages finished [5min 52s]
1 package had stderr output: lely_core_libraries
ビルドが終わりました。
パッケージに登録します。
yoshi@yoshi:~/ros2_canopen$ source install/local_setup.bash
yoshi@yoshi:~/ros2_canopen$ ros2 pkg list
action_msgs
action_tutorials_cpp
action_tutorials_interfaces
action_tutorials_py
actionlib_msgs
ament_cmake
ament_cmake_auto
ament_cmake_copyright
ament_cmake_core
ament_cmake_cppcheck
ament_cmake_cpplint
ament_cmake_export_definitions
ament_cmake_export_dependencies
ament_cmake_export_include_directories
ament_cmake_export_interfaces
ament_cmake_export_libraries
ament_cmake_export_link_flags
ament_cmake_export_targets
ament_cmake_flake8
ament_cmake_gen_version_h
ament_cmake_gmock
ament_cmake_gtest
ament_cmake_include_directories
ament_cmake_libraries
ament_cmake_lint_cmake
ament_cmake_pep257
ament_cmake_pytest
ament_cmake_python
ament_cmake_ros
ament_cmake_target_dependencies
ament_cmake_test
ament_cmake_uncrustify
ament_cmake_version
ament_cmake_xmllint
ament_copyright
ament_cppcheck
ament_cpplint
ament_flake8
ament_index_cpp
ament_index_python
ament_lint
ament_lint_auto
ament_lint_cmake
ament_lint_common
ament_package
ament_pep257
ament_uncrustify
ament_xmllint
angles
builtin_interfaces
canopen
canopen_402_driver
canopen_base_driver
canopen_core
canopen_fake_slaves
canopen_interfaces
canopen_master_driver
canopen_proxy_driver
canopen_ros2_control
canopen_ros2_controllers
canopen_tests
canopen_utils
class_loader
common_interfaces
composition
composition_interfaces
console_bridge_vendor
control_msgs
control_toolbox
controller_interface
controller_manager
controller_manager_msgs
cv_bridge
demo_nodes_cpp
demo_nodes_cpp_native
demo_nodes_py
depthimage_to_laserscan
desktop
diagnostic_msgs
diagnostic_updater
domain_coordinator
dummy_map_server
dummy_robot_bringup
dummy_sensors
eigen3_cmake_module
example_interfaces
examples_rclcpp_minimal_action_client
examples_rclcpp_minimal_action_server
examples_rclcpp_minimal_client
examples_rclcpp_minimal_composition
examples_rclcpp_minimal_publisher
examples_rclcpp_minimal_service
examples_rclcpp_minimal_subscriber
examples_rclcpp_minimal_timer
examples_rclcpp_multithreaded_executor
examples_rclpy_executors
examples_rclpy_minimal_action_client
examples_rclpy_minimal_action_server
examples_rclpy_minimal_client
examples_rclpy_minimal_publisher
examples_rclpy_minimal_service
examples_rclpy_minimal_subscriber
fastrtps_cmake_module
filters
forward_command_controller
generate_parameter_library
generate_parameter_library_py
geometry2
geometry_msgs
gz_cmake_vendor
gz_math_vendor
gz_utils_vendor
hardware_interface
image_geometry
image_tools
image_transport
interactive_markers
intra_process_demo
joint_limits
joint_state_broadcaster
joint_trajectory_controller
joy
kdl_parser
keyboard_handler
laser_geometry
launch
launch_ros
launch_testing
launch_testing_ament_cmake
launch_testing_ros
launch_xml
launch_yaml
lely_core_libraries
libcurl_vendor
liblz4_vendor
libstatistics_collector
libyaml_vendor
lifecycle
lifecycle_msgs
logging_demo
map_msgs
mcap_vendor
message_filters
nav_msgs
orocos_kdl_vendor
osrf_pycommon
parameter_traits
pcl_conversions
pcl_msgs
pendulum_control
pendulum_msgs
pluginlib
point_cloud_transport
pybind11_vendor
python_cmake_module
python_qt_binding
qt_dotgraph
qt_gui
qt_gui_cpp
qt_gui_py_common
quality_of_service_demo_cpp
quality_of_service_demo_py
rcl
rcl_action
rcl_interfaces
rcl_lifecycle
rcl_logging_interface
rcl_logging_spdlog
rcl_yaml_param_parser
rclcpp
rclcpp_action
rclcpp_components
rclcpp_lifecycle
rclpy
rcpputils
rcutils
realtime_tools
resource_retriever
rmw
rmw_dds_common
rmw_fastrtps_cpp
rmw_fastrtps_shared_cpp
rmw_implementation
rmw_implementation_cmake
robot_state_publisher
ros2_control_test_assets
ros2action
ros2bag
ros2cli
ros2cli_common_extensions
ros2component
ros2doctor
ros2interface
ros2launch
ros2lifecycle
ros2multicast
ros2node
ros2param
ros2pkg
ros2run
ros2service
ros2topic
ros_base
ros_core
ros_environment
ros_workspace
rosbag2
rosbag2_compression
rosbag2_compression_zstd
rosbag2_cpp
rosbag2_interfaces
rosbag2_py
rosbag2_storage
rosbag2_storage_default_plugins
rosbag2_storage_mcap
rosbag2_storage_sqlite3
rosbag2_transport
rosgraph_msgs
rosidl_adapter
rosidl_cli
rosidl_cmake
rosidl_core_generators
rosidl_core_runtime
rosidl_default_generators
rosidl_default_runtime
rosidl_dynamic_typesupport
rosidl_dynamic_typesupport_fastrtps
rosidl_generator_c
rosidl_generator_cpp
rosidl_generator_py
rosidl_generator_type_description
rosidl_parser
rosidl_pycommon
rosidl_runtime_c
rosidl_runtime_cpp
rosidl_runtime_py
rosidl_typesupport_c
rosidl_typesupport_cpp
rosidl_typesupport_fastrtps_c
rosidl_typesupport_fastrtps_cpp
rosidl_typesupport_interface
rosidl_typesupport_introspection_c
rosidl_typesupport_introspection_cpp
rpyutils
rqt_action
rqt_bag
rqt_bag_plugins
rqt_common_plugins
rqt_console
rqt_graph
rqt_gui
rqt_gui_cpp
rqt_gui_py
rqt_image_view
rqt_msg
rqt_plot
rqt_publisher
rqt_py_common
rqt_py_console
rqt_reconfigure
rqt_service_caller
rqt_shell
rqt_srv
rqt_topic
rttest
rviz2
rviz_assimp_vendor
rviz_common
rviz_default_plugins
rviz_ogre_vendor
rviz_rendering
sdl2_vendor
sensor_msgs
sensor_msgs_py
service_msgs
shape_msgs
shared_queues_vendor
spdlog_vendor
sqlite3_vendor
sros2
sros2_cmake
statistics_msgs
std_msgs
std_srvs
stereo_msgs
tango_icons_vendor
tcb_span
teleop_twist_joy
teleop_twist_keyboard
tf2
tf2_bullet
tf2_eigen
tf2_eigen_kdl
tf2_geometry_msgs
tf2_kdl
tf2_msgs
tf2_py
tf2_ros
tf2_ros_py
tf2_sensor_msgs
tf2_tools
tinyxml2_vendor
tl_expected
tlsf
tlsf_cpp
topic_monitor
tracetools
trajectory_msgs
turtlesim
type_description_interfaces
uncrustify_vendor
unique_identifier_msgs
urdf
urdf_parser_plugin
visualization_msgs
xacro
yaml_cpp_vendor
zstd_vendor
CANopen関連が登録されました。
Setup CAN Controller
これは設定が終わっています。
Examples Service Interface
解説の中ではvcan0を利用しています。can0を使うように変更します。
できない！
どうも、vcan0使う前提でプログラムが書かれていて、数時間調べた限り、ros2の実行時に、パラメタでcan0を指定するような作りになっていないようです。
$ sudo modprobe vcan
$ sudo ip link add dev vcan0 type vcan
$ sudo ip link set vcan0 txqueuelen 1000
$ sudo ip link set up vcan0
$ ip addr
1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN group default qlen 1000
link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
inet 127.0.0.1/8 scope host lo
valid_lft forever preferred_lft forever
inet6 ::1/128 scope host noprefixroute
valid_lft forever preferred_lft forever
2: eth0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc fq_codel state UP group default qlen 1000
link/ether 2c:cf:67:30:d7:8f brd ff:ff:ff:ff:ff:ff
inet 192.168.111.110/24 brd 192.168.111.255 scope global dynamic noprefixroute eth0
valid_lft 43630sec preferred_lft 43630sec
inet6 240f:6d:2c00:1:2ecf:67ff:fe30:d78f/64 scope global dynamic noprefixroute
valid_lft 272sec preferred_lft 272sec
inet6 fe80::2ecf:67ff:fe30:d78f/64 scope link noprefixroute
valid_lft forever preferred_lft forever
3: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP group default qlen 10
link/can
4: wlan0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc fq_codel state DOWN group default qlen 1000
link/ether 2c:cf:67:30:d7:90 brd ff:ff:ff:ff:ff:ff
5: vcan0: <NOARP,UP,LOWER_UP> mtu 72 qdisc noqueue state UNKNOWN group default qlen 1000
link/can
vcan0を有効にしました。vcan0は、Linuxで提供されている仮想CANインターフェースです。
サンプルを実行します。
$ ros2 launch canopen_tests cia402_setup.launch.py
[INFO] [launch]: All log files can be found below /home/yoshi/.ros/log/2024-10-27-23-22-24-896327-yoshi-27813
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402/bus.yml
[INFO] [launch.user]: /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402/master.dcf
[INFO] [launch.user]:
[INFO] [launch.user]: vcan0
[INFO] [cia402_slave_node-1]: process started with pid [27829]
[INFO] [device_container_node-2]: process started with pid [27830]
[device_container_node-2] [INFO] [1730038945.293439658] [device_container_node]: Starting Device Container with:
[device_container_node-2] [INFO] [1730038945.293620398] [device_container_node]: master_config /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402/master.dcf
[device_container_node-2] [INFO] [1730038945.293650250] [device_container_node]: bus_config /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402/bus.yml
[device_container_node-2] [INFO] [1730038945.293667398] [device_container_node]: can_interface_name vcan0
[device_container_node-2] [INFO] [1730038945.295304557] [device_container_node]: Loading Master Configuration.
[device_container_node-2] [INFO] [1730038945.296107442] [device_container_node]: Load Library: /home/yoshi/ros2_canopen/install/canopen_master_driver/lib/libmaster_driver.so
[device_container_node-2] [INFO] [1730038945.300663218] [device_container_node]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::MasterDriver>
[device_container_node-2] [INFO] [1730038945.300738014] [device_container_node]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::MasterDriver>
[device_container_node-2] [INFO] [1730038945.309016051] [master]: NodeCanopenBasicMaster
[device_container_node-2] [INFO] [1730038945.309233198] [device_container_node]: Load master component.
[device_container_node-2] [INFO] [1730038945.309339642] [device_container_node]: Added /master to executor
[device_container_node-2] [WARN] [1730038945.312890367] [master]: No timeout parameter found in config file. Using default value of 100ms.
[device_container_node-2] [INFO] [1730038945.312976015] [master]: Master boot timeout set to 2000ms.
[device_container_node-2] [INFO] [1730038945.336116541] [device_container_node]: Loading Driver Configuration.
[device_container_node-2] [INFO] [1730038945.336269652] [device_container_node]: Found device cia402_device_1 with driver ros2_canopen::Cia402Driver
[device_container_node-2] [INFO] [1730038945.336857612] [device_container_node]: Load Library: /home/yoshi/ros2_canopen/install/canopen_402_driver/lib/libcia402_driver.so
[device_container_node-2] [INFO] [1730038945.347431028] [device_container_node]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::Cia402Driver>
[device_container_node-2] [INFO] [1730038945.347497509] [device_container_node]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::Cia402Driver>
[device_container_node-2] [INFO] [1730038945.356705079] [device_container_node]: Load driver component.
[device_container_node-2] [INFO] [1730038945.356856097] [device_container_node]: Added /cia402_device_1 to executor
[device_container_node-2] [INFO] [1730038945.383446293] [cia402_device_1]: Non transmit timeout100ms
[device_container_node-2] [WARN] [1730038945.383629459] [cia402_device_1]: Could not polling from config, setting to true.
[device_container_node-2] [WARN] [1730038945.383797736] [cia402_device_1]: Could not read enable diagnostics from config, setting to false.
[device_container_node-2] [INFO] [1730038945.384255549] [cia402_device_1]: scale_pos_to_dev_ 1000.000000
[device_container_node-2] scale_pos_from_dev_ 0.001000
[device_container_node-2] scale_vel_to_dev_ 1000.000000
[device_container_node-2] scale_vel_from_dev_ 0.001000
[device_container_node-2]
[device_container_node-2] [INFO] [1730038945.387369720] [cia402_device_1]: eds file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402/cia402_slave.eds
[device_container_node-2] [INFO] [1730038945.387421923] [cia402_device_1]: bin file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402/cia402_device_1.bin
[device_container_node-2] Found rpdo mapped object: index=6040 subindex=0
[device_container_node-2] Found rpdo mapped object: index=6060 subindex=0
[device_container_node-2] Found rpdo mapped object: index=607a subindex=0
[device_container_node-2] Found rpdo mapped object: index=60ff subindex=0
[device_container_node-2] Found rpdo mapped object: index=6040 subindex=0
[device_container_node-2] Found rpdo mapped object: index=607a subindex=0
[device_container_node-2] Found rpdo mapped object: index=6040 subindex=0
[device_container_node-2] Found rpdo mapped object: index=60ff subindex=0
[device_container_node-2] Found tpdo mapped object: index=6041 subindex=0
[device_container_node-2] Found tpdo mapped object: index=6061 subindex=0
[device_container_node-2] Found tpdo mapped object: index=6064 subindex=0
[device_container_node-2] Found tpdo mapped object: index=606c subindex=0
[device_container_node-2] Found tpdo mapped object: index=6041 subindex=0
[device_container_node-2] Found tpdo mapped object: index=6064 subindex=0
[device_container_node-2] Found tpdo mapped object: index=6041 subindex=0
[device_container_node-2] Found tpdo mapped object: index=606c subindex=0
[device_container_node-2] [WARN] [1730038945.390885797] [cia402_device_1]: Wait for device to boot.
[cia402_slave_node-1] [INFO] [1730038945.478261388] [cia402_node_1]: Reaching inactive state.
[INFO] [launch.user]: node 'basic_slave_node' reached the 'inactive' state, 'activating'.
[cia402_slave_node-1] [INFO] [1730038945.482545443] [cia402_node_1]: Reaching active state.
[cia402_slave_node-1] [INFO] [1730038945.487272848] [cia402_node_1]: Created cia402 slave for node_id 2.
[device_container_node-2] [INFO] [1730038945.489498190] [cia402_device_1]: Driver booted and ready.
[device_container_node-2] [INFO] [1730038945.490112817] [cia402_device_1]: Starting with polling mode.
[device_container_node-2] [INFO] [1730038945.491217089] [device_container_node]: Found device cia402_device_2 with driver ros2_canopen::Cia402Driver
[device_container_node-2] [INFO] [1730038945.491990345] [device_container_node]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::Cia402Driver>
[device_container_node-2] [INFO] [1730038945.492029438] [device_container_node]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::Cia402Driver>
[cia402_slave_node-1] [INFO] [1730038945.501511506] [cia402_slave]: Switch_On_Disabled
[device_container_node-2] [INFO] [1730038945.502920741] [device_container_node]: Load driver component.
[device_container_node-2] [INFO] [1730038945.503020407] [device_container_node]: Added /cia402_device_2 to executor
[device_container_node-2] [INFO] [1730038945.521854471] [cia402_device_2]: Non transmit timeout100ms
[device_container_node-2] [WARN] [1730038945.521958211] [cia402_device_2]: Could not polling from config, setting to true.
[device_container_node-2] [WARN] [1730038945.522021507] [cia402_device_2]: Could not read enable diagnostics from config, setting to false.
[device_container_node-2] [INFO] [1730038945.522193914] [cia402_device_2]: scale_pos_to_dev_ 1000.000000
[device_container_node-2] scale_pos_from_dev_ 0.001000
[device_container_node-2] scale_vel_to_dev_ 1000.000000
[device_container_node-2] scale_vel_from_dev_ 0.001000
[device_container_node-2]
[device_container_node-2] [INFO] [1730038945.525249900] [cia402_device_2]: eds file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402/cia402_slave.eds
[device_container_node-2] [INFO] [1730038945.525302770] [cia402_device_2]: bin file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402/cia402_device_2.bin
[device_container_node-2] Found rpdo mapped object: index=6040 subindex=0
[device_container_node-2] Found rpdo mapped object: index=6060 subindex=0
[device_container_node-2] Found rpdo mapped object: index=607a subindex=0
[device_container_node-2] Found rpdo mapped object: index=60ff subindex=0
[device_container_node-2] Found rpdo mapped object: index=6040 subindex=0
[device_container_node-2] Found rpdo mapped object: index=607a subindex=0
[device_container_node-2] Found rpdo mapped object: index=6040 subindex=0
[device_container_node-2] Found rpdo mapped object: index=60ff subindex=0
[device_container_node-2] Found tpdo mapped object: index=6041 subindex=0
[device_container_node-2] Found tpdo mapped object: index=6061 subindex=0
[device_container_node-2] Found tpdo mapped object: index=6064 subindex=0
[device_container_node-2] Found tpdo mapped object: index=606c subindex=0
[device_container_node-2] Found tpdo mapped object: index=6041 subindex=0
[device_container_node-2] Found tpdo mapped object: index=6064 subindex=0
[device_container_node-2] Found tpdo mapped object: index=6041 subindex=0
[device_container_node-2] Found tpdo mapped object: index=606c subindex=0
[device_container_node-2] [WARN] [1730038945.527451705] [cia402_device_2]: Wait for device to boot.
[device_container_node-2] [INFO] [1730038945.527499575] [cia402_device_2]: Driver booted and ready.
[device_container_node-2] [INFO] [1730038945.527658149] [cia402_device_2]: Starting with polling mode.
[device_container_node-2] [INFO] [1730038945.527854889] [device_container_node]: Found device cia402_device_3 with driver ros2_canopen::Cia402Driver
[device_container_node-2] [INFO] [1730038945.528459923] [device_container_node]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::Cia402Driver>
[device_container_node-2] [INFO] [1730038945.528496497] [device_container_node]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::Cia402Driver>
[device_container_node-2] [INFO] [1730038945.539897965] [device_container_node]: Load driver component.
[device_container_node-2] [INFO] [1730038945.539987538] [device_container_node]: Added /cia402_device_3 to executor
[device_container_node-2] [INFO] [1730038945.560520224] [cia402_device_3]: Non transmit timeout100ms
[device_container_node-2] [WARN] [1730038945.560621928] [cia402_device_3]: Could not polling from config, setting to true.
[device_container_node-2] [WARN] [1730038945.560684446] [cia402_device_3]: Could not read enable diagnostics from config, setting to false.
[device_container_node-2] [INFO] [1730038945.560855427] [cia402_device_3]: scale_pos_to_dev_ 1000.000000
[device_container_node-2] scale_pos_from_dev_ 0.001000
[device_container_node-2] scale_vel_to_dev_ 1000.000000
[device_container_node-2] scale_vel_from_dev_ 0.001000
[device_container_node-2]
[device_container_node-2] [INFO] [1730038945.564138338] [cia402_device_3]: eds file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402/cia402_slave.eds
[device_container_node-2] [INFO] [1730038945.564192282] [cia402_device_3]: bin file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402/cia402_device_3.bin
[device_container_node-2] Found rpdo mapped object: index=6040 subindex=0
[device_container_node-2] Found rpdo mapped object: index=6060 subindex=0
[device_container_node-2] Found rpdo mapped object: index=607a subindex=0
[device_container_node-2] Found rpdo mapped object: index=60ff subindex=0
[device_container_node-2] Found rpdo mapped object: index=6040 subindex=0
[device_container_node-2] Found rpdo mapped object: index=607a subindex=0
[device_container_node-2] Found rpdo mapped object: index=6040 subindex=0
[device_container_node-2] Found rpdo mapped object: index=60ff subindex=0
[device_container_node-2] Found tpdo mapped object: index=6041 subindex=0
[device_container_node-2] Found tpdo mapped object: index=6061 subindex=0
[device_container_node-2] Found tpdo mapped object: index=6064 subindex=0
[device_container_node-2] Found tpdo mapped object: index=606c subindex=0
[device_container_node-2] Found tpdo mapped object: index=6041 subindex=0
[device_container_node-2] Found tpdo mapped object: index=6064 subindex=0
[device_container_node-2] Found tpdo mapped object: index=6041 subindex=0
[device_container_node-2] Found tpdo mapped object: index=606c subindex=0
[device_container_node-2] [WARN] [1730038945.566405754] [cia402_device_3]: Wait for device to boot.
^Z
[1]+ Stopped ros2 launch canopen_tests cia402_setup.launch.py
CTRL-Zで中断しました。動作するようです。
Examples : Managed Service Interface
実行します。
$ ros2 launch canopen_tests cia402_lifecycle_setup.launch.py
[INFO] [launch]: All log files can be found below /home/yoshi/.ros/log/2024-10-27-23-28-25-889499-yoshi-27929
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402_lifecycle/bus.yml
[INFO] [launch.user]: /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402_lifecycle/master.dcf
[INFO] [launch.user]:
[INFO] [launch.user]: vcan0
[INFO] [cia402_slave_node-1]: process started with pid [27945]
[INFO] [device_container_node-2]: process started with pid [27946]
[device_container_node-2] [INFO] [1730039306.294520003] [device_container_node]: Starting Device Container with:
[device_container_node-2] [INFO] [1730039306.294652058] [device_container_node]: master_config /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402_lifecycle/master.dcf
[device_container_node-2] [INFO] [1730039306.294675114] [device_container_node]: bus_config /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402_lifecycle/bus.yml
[device_container_node-2] [INFO] [1730039306.294688077] [device_container_node]: can_interface_name vcan0
[device_container_node-2] [INFO] [1730039306.295851461] [device_container_node]: Loading Master Configuration.
[device_container_node-2] [INFO] [1730039306.296464478] [device_container_node]: Load Library: /home/yoshi/ros2_canopen/install/canopen_master_driver/lib/liblifecycle_master_driver.so
[device_container_node-2] [INFO] [1730039306.300941090] [device_container_node]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::LifecycleMasterDriver>
[device_container_node-2] [INFO] [1730039306.301004720] [device_container_node]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::LifecycleMasterDriver>
[device_container_node-2] [INFO] [1730039306.315675831] [master]: NodeCanopenBasicMaster
[device_container_node-2] [INFO] [1730039306.315919553] [device_container_node]: Load master component.
[device_container_node-2] [INFO] [1730039306.316017034] [device_container_node]: Added /master to executor
[device_container_node-2] [INFO] [1730039306.319447151] [device_container_node]: Loading Driver Configuration.
[device_container_node-2] [INFO] [1730039306.319561298] [device_container_node]: Found device cia402_device_1 with driver ros2_canopen::LifecycleCia402Driver
[device_container_node-2] [INFO] [1730039306.320129981] [device_container_node]: Load Library: /home/yoshi/ros2_canopen/install/canopen_402_driver/lib/liblifecycle_cia402_driver.so
[device_container_node-2] [INFO] [1730039306.330383943] [device_container_node]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::LifecycleCia402Driver>
[device_container_node-2] [INFO] [1730039306.330456609] [device_container_node]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::LifecycleCia402Driver>
[device_container_node-2] [INFO] [1730039306.343465912] [device_container_node]: Load driver component.
[device_container_node-2] [INFO] [1730039306.343612004] [device_container_node]: Added /cia402_device_1 to executor
[device_container_node-2] [INFO] [1730039306.370092775] [device_container_node]: Loading Manager Configuration.
[device_container_node-2] [INFO] [1730039306.384198019] [device_container_node]: Added /lifecycle_manager to executor
[cia402_slave_node-1] [INFO] [1730039306.469573532] [cia402_node_1]: Reaching inactive state.
[INFO] [launch.user]: node 'basic_slave_node' reached the 'inactive' state, 'activating'.
[cia402_slave_node-1] [INFO] [1730039306.474231644] [cia402_node_1]: Reaching active state.
[cia402_slave_node-1] [INFO] [1730039306.478674072] [cia402_node_1]: Created cia402 slave for node_id 2.
^Z
[3]+ Stopped ros2 launch canopen_tests cia402_lifecycle_setup.launch.py
CTRL-Zで中断しました。動作するようです。
Examples : ROS2 ControlのProxy Setup
実行します。
$ ros2 launch canopen_tests canopen_system.launch.py
[INFO] [launch]: All log files can be found below /home/yoshi/.ros/log/2024-10-27-23-31-19-204945-yoshi-27989
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [28007]
[INFO] [robot_state_publisher-2]: process started with pid [28008]
[INFO] [spawner-3]: process started with pid [28009]
[INFO] [basic_slave_node-4]: process started with pid [28010]
[INFO] [basic_slave_node-5]: process started with pid [28011]
[INFO] [spawner-6]: process started with pid [28012]
[robot_state_publisher-2] [INFO] [1730039480.012249523] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [INFO] [1730039480.045835404] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1730039480.046170403] [controller_manager]: update rate is 10 Hz
[ros2_control_node-1] [WARN] [1730039480.046634716] [controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[basic_slave_node-4] [INFO] [1730039480.136127991] [slave_node_2]: Reaching inactive state.
[INFO] [launch.user]: node 'basic_slave_node' reached the 'inactive' state, 'activating'.
[basic_slave_node-4] [INFO] [1730039480.141336158] [slave_node_2]: Reaching active state.
[basic_slave_node-5] [INFO] [1730039480.144394184] [slave_node_3]: Reaching inactive state.
[basic_slave_node-4] [INFO] [1730039480.146529176] [slave_node_2]: Created slave for node_id 2.
[INFO] [launch.user]: node 'basic_slave_node' reached the 'inactive' state, 'activating'.
[basic_slave_node-5] [INFO] [1730039480.150560236] [slave_node_3]: Reaching active state.
[basic_slave_node-5] [INFO] [1730039480.156746047] [slave_node_3]: Created slave for node_id 3.
[ros2_control_node-1] [INFO] [1730039480.168416802] [controller_manager]: Received robot description from topic.
[ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-1] what(): Joint 'node_2' not found in URDF
[spawner-3] [INFO] [1730039480.661305348] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-6] [INFO] [1730039480.721010136] [spawner_node_1_controller]: waiting for service /controller_manager/list_controllers to become available...
[ERROR] [ros2_control_node-1]: process has died [pid 28007, exit code -6, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_hpeamc7i --params-file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/canopen_system/ros2_controllers.yaml'].
^Z
[4]+ Stopped ros2 launch canopen_tests canopen_system.launch.py
CTRL-Zで中断しました。動作するようです。
上記のプログラムを起動した状態で、teratermをもう一つ起動してsshでラズパイ5につなぎます。
$ source /opt/ros/jazzy/setup.bash
$ ros2 topic list
/parameter_events
/rosout
rosoutというtopicを流しているようです。内容を見てみます。
$ ros2 topic echo /rosout
stamp:
sec: 1730039871
nanosec: 342120849
level: 30
name: spawner_joint_state_broadcaster
msg: Could not contact service /controller_manager/list_controllers
file: /opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/controller_manager_services.py
function: service_caller
line: 107
---
stamp:
sec: 1730039871
nanosec: 342859976
level: 20
name: spawner_joint_state_broadcaster
msg: waiting for service /controller_manager/list_controllers to become available...
file: /opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/controller_manager_services.py
function: service_caller
line: 98
---
stamp:
sec: 1730039871
Examples : ROS2 ControlのCiA402 Setup
実行します。
$ ros2 launch canopen_tests cia402_system.launch.py
[INFO] [launch]: All log files can be found below /home/yoshi/.ros/log/2024-10-27-23-53-48-437500-yoshi-28773
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [28791]
[INFO] [robot_state_publisher-2]: process started with pid [28792]
[INFO] [spawner-3]: process started with pid [28793]
[INFO] [cia402_slave_node-4]: process started with pid [28794]
[INFO] [spawner-5]: process started with pid [28795]
[INFO] [spawner-6]: process started with pid [28796]
[robot_state_publisher-2] [INFO] [1730040829.212968983] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [INFO] [1730040829.367204469] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1730040829.368417706] [controller_manager]: update rate is 10 Hz
[ros2_control_node-1] [WARN] [1730040829.370879810] [controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[cia402_slave_node-4] [INFO] [1730040829.374169244] [cia402_node_1]: Reaching inactive state.
[INFO] [launch.user]: node 'basic_slave_node' reached the 'inactive' state, 'activating'.
[ros2_control_node-1] [INFO] [1730040829.377859899] [controller_manager]: Received robot description from topic.
[ros2_control_node-1] [INFO] [1730040829.383701844] [controller_manager.resource_manager]: Loading hardware 'canopen_test_system'
[cia402_slave_node-4] [INFO] [1730040829.386397225] [cia402_node_1]: Reaching active state.
[cia402_slave_node-4] [INFO] [1730040829.393459110] [cia402_node_1]: Created cia402 slave for node_id 2.
[ros2_control_node-1] [INFO] [1730040829.417304185] [controller_manager.resource_manager]: Loaded hardware 'canopen_test_system' from plugin 'canopen_ros2_control/Cia402System'
[ros2_control_node-1] [INFO] [1730040829.419158309] [controller_manager.resource_manager]: Initialize hardware 'canopen_test_system'
[ros2_control_node-1] [INFO] [1730040829.419661900] [CanopenSystem]: bus_config: '/home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402_system/bus.yml'
[ros2_control_node-1] [INFO] [1730040829.419686511] [CanopenSystem]: master_config: '/home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402_system/master.dcf'
[ros2_control_node-1] [INFO] [1730040829.419692529] [CanopenSystem]: can_interface_name: 'vcan0'
[ros2_control_node-1] [INFO] [1730040829.419697159] [CanopenSystem]: master_bin: '""'
[ros2_control_node-1] [INFO] [1730040829.419709918] [controller_manager.resource_manager]: Successful initialization of hardware 'canopen_test_system'
[ros2_control_node-1] [WARN] [1730040829.420181639] [controller_manager.resource_manager]: Importing state interfaces for the hardware 'canopen_test_system' returned no state interfaces.
[ros2_control_node-1] [INFO] [1730040829.420487564] [resource_manager]: 'configure' hardware 'canopen_test_system'
[ros2_control_node-1] [INFO] [1730040829.478912105] [device_container]: Starting Device Container with:
[ros2_control_node-1] [INFO] [1730040829.479004513] [device_container]: can_interface_name vcan0
[ros2_control_node-1] [INFO] [1730040829.479021827] [device_container]: master_config /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402_system/master.dcf
[ros2_control_node-1] [INFO] [1730040829.479035253] [device_container]: bus_config /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402_system/bus.yml
[ros2_control_node-1] [INFO] [1730040829.483112741] [device_container]: Loading Master Configuration.
[ros2_control_node-1] [INFO] [1730040829.485065068] [device_container]: Load Library: /home/yoshi/ros2_canopen/install/canopen_master_driver/lib/libmaster_driver.so
[ros2_control_node-1] [INFO] [1730040829.489883794] [device_container]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::MasterDriver>
[ros2_control_node-1] [INFO] [1730040829.490154645] [device_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::MasterDriver>
[ros2_control_node-1] [INFO] [1730040829.520661384] [master]: NodeCanopenBasicMaster
[ros2_control_node-1] [INFO] [1730040829.520965883] [device_container]: Load master component.
[ros2_control_node-1] [INFO] [1730040829.521272326] [device_container]: Added /master to executor
[ros2_control_node-1] [WARN] [1730040829.535942522] [master]: No timeout parameter found in config file. Using default value of 100ms.
[ros2_control_node-1] [INFO] [1730040829.536119040] [master]: Master boot timeout set to 2000ms.
[ros2_control_node-1] [INFO] [1730040829.556626828] [device_container]: Loading Driver Configuration.
[ros2_control_node-1] [INFO] [1730040829.556867716] [device_container]: Found device cia402_device_1 with driver ros2_canopen::Cia402Driver
[ros2_control_node-1] [INFO] [1730040829.559305172] [device_container]: Load Library: /home/yoshi/ros2_canopen/install/canopen_402_driver/lib/libcia402_driver.so
[ros2_control_node-1] [INFO] [1730040829.560867074] [device_container]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::Cia402Driver>
[ros2_control_node-1] [INFO] [1730040829.560938759] [device_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::Cia402Driver>
[ros2_control_node-1] [INFO] [1730040829.603288888] [device_container]: Load driver component.
[ros2_control_node-1] [INFO] [1730040829.603585905] [device_container]: Added /cia402_device_1 to executor
[ros2_control_node-1] [INFO] [1730040829.696736506] [cia402_device_1]: Non transmit timeout100ms
[ros2_control_node-1] [WARN] [1730040829.700483921] [cia402_device_1]: Could not polling from config, setting to true.
[ros2_control_node-1] [WARN] [1730040829.700765475] [cia402_device_1]: Could not read enable diagnostics from config, setting to false.
[ros2_control_node-1] [INFO] [1730040829.701257807] [cia402_device_1]: scale_pos_to_dev_ 1000.000000
[ros2_control_node-1] scale_pos_from_dev_ 0.001000
[ros2_control_node-1] scale_vel_to_dev_ 1000.000000
[ros2_control_node-1] scale_vel_from_dev_ 0.001000
[ros2_control_node-1]
[ros2_control_node-1] [INFO] [1730040829.710648204] [cia402_device_1]: eds file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402_system/cia402_slave.eds
[ros2_control_node-1] [INFO] [1730040829.710733222] [cia402_device_1]: bin file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402_system/cia402_device_1.bin
[ros2_control_node-1] Found rpdo mapped object: index=6040 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=6060 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=607a subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=60ff subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=6040 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=607a subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=6040 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=60ff subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6041 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6061 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6064 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=606c subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6041 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6064 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6041 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=606c subindex=0
[ros2_control_node-1] [INFO] [1730040829.722036632] [cia402_device_1]: Driver booted and ready.
[ros2_control_node-1] [INFO] [1730040829.722683815] [cia402_device_1]: Starting with polling mode.
[ros2_control_node-1] [INFO] [1730040829.723710960] [Cia402System]: Number of registered drivers: '1'
[ros2_control_node-1] [INFO] [1730040829.723811497] [Cia402System]:
[ros2_control_node-1] Registered driver:
[ros2_control_node-1] name: 'cia402_device_1'
[ros2_control_node-1] node_id: '0x2'
[ros2_control_node-1] [INFO] [1730040829.723833015] [device_container]: Initialisation successful.
[ros2_control_node-1] [INFO] [1730040829.728114095] [resource_manager]: Successful 'configure' of hardware 'canopen_test_system'
[ros2_control_node-1] [INFO] [1730040829.728179317] [resource_manager]: 'activate' hardware 'canopen_test_system'
[ros2_control_node-1] [INFO] [1730040829.728205465] [resource_manager]: Successful 'activate' of hardware 'canopen_test_system'
[ros2_control_node-1] [INFO] [1730040829.728230057] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
[cia402_slave_node-4] [INFO] [1730040829.737918638] [cia402_slave]: Switch_On_Disabled
[ros2_control_node-1] [INFO] [1730040830.182111747] [controller_manager]: Loading controller : 'cia402_device_1_controller' of type 'canopen_ros2_controllers/Cia402DeviceController'
[ros2_control_node-1] [INFO] [1730040830.182171766] [controller_manager]: Loading controller 'cia402_device_1_controller'
[ros2_control_node-1] [INFO] [1730040830.186193105] [controller_manager]: Controller 'cia402_device_1_controller' node arguments: --ros-args --params-file /tmp/launch_params_q3bs_vov --params-file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402_system/ros2_controllers.yaml
[spawner-5] [INFO] [1730040830.295420749] [spawner_cia402_device_1_controller]: Loaded cia402_device_1_controller
[ros2_control_node-1] [INFO] [1730040830.297043151] [controller_manager]: Configuring controller: 'cia402_device_1_controller'
[ros2_control_node-1] [INFO] [1730040830.310317573] [cia402_device_1_controller]: configure successful
[ros2_control_node-1] [INFO] [1730040830.466069462] [controller_manager]: Activating controllers: [ cia402_device_1_controller ]
[ros2_control_node-1] [INFO] [1730040830.571659081] [controller_manager]: Loading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'
[ros2_control_node-1] [INFO] [1730040830.571717377] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-5] [INFO] [1730040830.573330501] [spawner_cia402_device_1_controller]: Configured and activated cia402_device_1_controller
[ros2_control_node-1] [INFO] [1730040830.577274489] [controller_manager]: Controller 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q3bs_vov --params-file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402_system/ros2_controllers.yaml
[ros2_control_node-1] [INFO] [1730040830.672378732] [controller_manager]: Loading controller : 'forward_position_controller' of type 'forward_command_controller/ForwardCommandController'
[ros2_control_node-1] [INFO] [1730040830.672478825] [controller_manager]: Loading controller 'forward_position_controller'
[ros2_control_node-1] [INFO] [1730040830.674891465] [controller_manager]: Controller 'forward_position_controller' node arguments: --ros-args --params-file /tmp/launch_params_q3bs_vov --params-file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402_system/ros2_controllers.yaml
[spawner-3] [INFO] [1730040830.719190847] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1730040830.771941943] [controller_manager]: Configuring controller: 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1730040830.772116239] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-6] [INFO] [1730040830.796598108] [spawner_forward_position_controller]: Loaded forward_position_controller
[INFO] [spawner-5]: process has finished cleanly [pid 28795]
[ros2_control_node-1] [INFO] [1730040830.871901560] [controller_manager]: Configuring controller: 'forward_position_controller'
[ros2_control_node-1] [INFO] [1730040830.874983754] [forward_position_controller]: configure successful
[ros2_control_node-1] [INFO] [1730040830.972117084] [controller_manager]: Activating controllers: [ joint_state_broadcaster ]
[ros2_control_node-1] [INFO] [1730040831.172040744] [controller_manager]: Activating controllers: [ forward_position_controller ]
[spawner-3] [INFO] [1730040831.173406332] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-1] [INFO] [1730040831.271451863] [forward_position_controller]: activate successful
[spawner-6] [INFO] [1730040831.373646621] [spawner_forward_position_controller]: Configured and activated forward_position_controller
[INFO] [spawner-3]: process has finished cleanly [pid 28793]
[INFO] [spawner-6]: process has finished cleanly [pid 28796]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-2] [INFO] [1730040925.871319896] [rclcpp]: signal_handler(signum=2)
[INFO] [cia402_slave_node-4]: process has finished cleanly [pid 28794]
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 28792]
[ros2_control_node-1] [INFO] [1730040925.871420044] [rclcpp]: signal_handler(signum=2)
[ros2_control_node-1] [INFO] [1730040925.873723204] [CanopenSystem]: Exiting spin thread...
[cia402_slave_node-4] [INFO] [1730040925.871516488] [cia402_node_1]: Stopped CANopen Event Loop.
[ros2_control_node-1] terminate called without an active exception
[ERROR] [ros2_control_node-1]: process has died [pid 28791, exit code -6, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_q3bs_vov --params-file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/cia402_system/ros2_controllers.yaml'].
実行中に、もう一つのssh接続画面で、
$ ros2 topic list
/cia402_device_1/joint_states
/cia402_device_1/nmt_state
/cia402_device_1/rpdo
/cia402_device_1/tpdo
/cia402_device_1_controller/nmt_state
/cia402_device_1_controller/rpdo
/cia402_device_1_controller/tpdo
/cia402_device_1_controller/transition_event
/cia402_node_1/transition_event
/diagnostics
/dynamic_joint_states
/forward_position_controller/commands
/forward_position_controller/transition_event
/joint_state_broadcaster/transition_event
/joint_states
/parameter_events
/robot_description
/rosout
/tf
/tf_static
たくさんのtopicが流れていますね。
Examples : ROS2 ControlのRobot Setup
実行します。
$ ros2 launch canopen_tests robot_control_setup.launch.py
[INFO] [launch]: All log files can be found below /home/yoshi/.ros/log/2024-10-27-23-59-55-164351-yoshi-28916
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [28934]
[INFO] [spawner-2]: process started with pid [28935]
[INFO] [spawner-3]: process started with pid [28936]
[INFO] [robot_state_publisher-4]: process started with pid [28937]
[INFO] [cia402_slave_node-5]: process started with pid [28938]
[INFO] [cia402_slave_node-6]: process started with pid [28939]
[robot_state_publisher-4] [INFO] [1730041196.396809755] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [INFO] [1730041196.403104809] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1730041196.403455068] [controller_manager]: update rate is 100 Hz
[ros2_control_node-1] [WARN] [1730041196.404018955] [controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[ros2_control_node-1] [INFO] [1730041196.412479206] [controller_manager]: Received robot description from topic.
[ros2_control_node-1] [INFO] [1730041196.414703829] [controller_manager.resource_manager]: Loading hardware 'test_robot'
[ros2_control_node-1] [INFO] [1730041196.433391457] [controller_manager.resource_manager]: Loaded hardware 'test_robot' from plugin 'canopen_ros2_control/RobotSystem'
[ros2_control_node-1] [INFO] [1730041196.433502179] [controller_manager.resource_manager]: Initialize hardware 'test_robot'
[ros2_control_node-1] [INFO] [1730041196.434204492] [test_robot_interface]: Registering hardware interface 'test_robot'
[ros2_control_node-1] [INFO] [1730041196.434284695] [test_robot_interface]: 'test_robot' has bus config: '/home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/robot_control/bus.yml'
[ros2_control_node-1] [INFO] [1730041196.434299547] [test_robot_interface]: 'test_robot' has master config: '/home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/robot_control/master.dcf'
[ros2_control_node-1] [INFO] [1730041196.434313139] [test_robot_interface]: 'test_robot' has master bin: ''
[ros2_control_node-1] [INFO] [1730041196.434319528] [test_robot_interface]: 'test_robot' has can interface: 'vcan0'
[ros2_control_node-1] [ERROR] [1730041196.437573370] [joint1]: Node id for 'joint1' is '2'
[ros2_control_node-1] [INFO] [1730041196.437750425] [joint1]: Registered position_mode '1' for 'joint1'
[ros2_control_node-1] [ERROR] [1730041196.439136421] [joint2]: Node id for 'joint2' is '3'
[ros2_control_node-1] [INFO] [1730041196.439209458] [joint2]: Registered position_mode '1' for 'joint2'
[ros2_control_node-1] [INFO] [1730041196.439490586] [controller_manager.resource_manager]: Successful initialization of hardware 'test_robot'
[ros2_control_node-1] [WARN] [1730041196.439731030] [controller_manager.resource_manager]: Importing state interfaces for the hardware 'test_robot' returned no state interfaces.
[ros2_control_node-1] [INFO] [1730041196.440022937] [resource_manager]: 'configure' hardware 'test_robot'
[ros2_control_node-1] [INFO] [1730041196.500418436] [device_container]: Starting Device Container with:
[ros2_control_node-1] [INFO] [1730041196.500532158] [device_container]: can_interface_name vcan0
[ros2_control_node-1] [INFO] [1730041196.500549714] [device_container]: master_config /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/robot_control/master.dcf
[ros2_control_node-1] [INFO] [1730041196.500566473] [device_container]: bus_config /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/robot_control/bus.yml
[ros2_control_node-1] [INFO] [1730041196.501983617] [device_container]: Loading Master Configuration.
[ros2_control_node-1] [INFO] [1730041196.502656152] [device_container]: Load Library: /home/yoshi/ros2_canopen/install/canopen_master_driver/lib/libmaster_driver.so
[ros2_control_node-1] [INFO] [1730041196.506354974] [device_container]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::MasterDriver>
[ros2_control_node-1] [INFO] [1730041196.506455381] [device_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::MasterDriver>
[ros2_control_node-1] [INFO] [1730041196.542997065] [master]: NodeCanopenBasicMaster
[ros2_control_node-1] [INFO] [1730041196.543283860] [device_container]: Load master component.
[ros2_control_node-1] [INFO] [1730041196.543575304] [device_container]: Added /master to executor
[ros2_control_node-1] [WARN] [1730041196.565518144] [master]: No timeout parameter found in config file. Using default value of 100ms.
[ros2_control_node-1] [INFO] [1730041196.565634829] [master]: Master boot timeout set to 2000ms.
[ros2_control_node-1] [INFO] [1730041196.592098766] [device_container]: Loading Driver Configuration.
[ros2_control_node-1] [INFO] [1730041196.593759242] [device_container]: Found device joint_1 with driver ros2_canopen::Cia402Driver
[ros2_control_node-1] [INFO] [1730041196.594825054] [device_container]: Load Library: /home/yoshi/ros2_canopen/install/canopen_402_driver/lib/libcia402_driver.so
[ros2_control_node-1] [INFO] [1730041196.598015840] [device_container]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::Cia402Driver>
[ros2_control_node-1] [INFO] [1730041196.598141914] [device_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::Cia402Driver>
[cia402_slave_node-5] [INFO] [1730041196.619152368] [slave_node_1]: Reaching inactive state.
[INFO] [launch.user]: node 'basic_slave_node' reached the 'inactive' state, 'activating'.
[INFO] [launch.user]: node 'basic_slave_node' reached the 'inactive' state, 'activating'.
[cia402_slave_node-6] [INFO] [1730041196.628906468] [slave_node_2]: Reaching inactive state.
[cia402_slave_node-5] [INFO] [1730041196.630014834] [slave_node_1]: Reaching active state.
[cia402_slave_node-5] [INFO] [1730041196.644722271] [slave_node_1]: Created cia402 slave for node_id 2.
[ros2_control_node-1] [INFO] [1730041196.641143800] [device_container]: Load driver component.
[ros2_control_node-1] [INFO] [1730041196.641534669] [device_container]: Added /joint_1 to executor
[cia402_slave_node-6] [INFO] [1730041196.678704981] [slave_node_2]: Reaching active state.
[cia402_slave_node-6] [INFO] [1730041196.693438973] [slave_node_2]: Created cia402 slave for node_id 3.
[ros2_control_node-1] [INFO] [1730041196.730192767] [joint_1]: Non transmit timeout100ms
[ros2_control_node-1] [WARN] [1730041196.730399045] [joint_1]: Could not polling from config, setting to true.
[ros2_control_node-1] [WARN] [1730041196.730584822] [joint_1]: Could not read enable diagnostics from config, setting to false.
[ros2_control_node-1] [INFO] [1730041196.731017802] [joint_1]: scale_pos_to_dev_ 1000.000000
[ros2_control_node-1] scale_pos_from_dev_ 0.001000
[ros2_control_node-1] scale_vel_to_dev_ 1000.000000
[ros2_control_node-1] scale_vel_from_dev_ 0.001000
[ros2_control_node-1]
[ros2_control_node-1] [INFO] [1730041196.736302749] [joint_1]: eds file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/robot_control/cia402_slave.eds
[ros2_control_node-1] [INFO] [1730041196.736378971] [joint_1]: bin file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/robot_control/joint_1.bin
[ros2_control_node-1] Found rpdo mapped object: index=6040 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=6060 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=607a subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=6060 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=6040 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=607a subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=6040 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=60ff subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6041 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6061 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6064 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=606c subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6041 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6064 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6041 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=606c subindex=0
[ros2_control_node-1] [INFO] [1730041196.743591300] [joint_1]: Driver booted and ready.
[ros2_control_node-1] [INFO] [1730041196.744159873] [joint_1]: Starting with polling mode.
[ros2_control_node-1] [INFO] [1730041196.749475356] [device_container]: Found device joint_2 with driver ros2_canopen::Cia402Driver
[ros2_control_node-1] [INFO] [1730041196.750380280] [device_container]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::Cia402Driver>
[ros2_control_node-1] [INFO] [1730041196.750428779] [device_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::Cia402Driver>
[cia402_slave_node-5] [INFO] [1730041196.757430684] [cia402_slave]: Switch_On_Disabled
[ros2_control_node-1] [INFO] [1730041196.788313200] [device_container]: Load driver component.
[ros2_control_node-1] [INFO] [1730041196.788490607] [device_container]: Added /joint_2 to executor
[spawner-3] [INFO] [1730041196.805172130] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-2] [INFO] [1730041196.827483783] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-1] [INFO] [1730041196.835336889] [joint_2]: Non transmit timeout100ms
[ros2_control_node-1] [WARN] [1730041196.835448889] [joint_2]: Could not polling from config, setting to true.
[ros2_control_node-1] [WARN] [1730041196.835637832] [joint_2]: Could not read enable diagnostics from config, setting to false.
[ros2_control_node-1] [INFO] [1730041196.835868647] [joint_2]: scale_pos_to_dev_ 1000.000000
[ros2_control_node-1] scale_pos_from_dev_ 0.001000
[ros2_control_node-1] scale_vel_to_dev_ 1000.000000
[ros2_control_node-1] scale_vel_from_dev_ 0.001000
[ros2_control_node-1]
[ros2_control_node-1] [INFO] [1730041196.842130257] [joint_2]: eds file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/robot_control/cia402_slave.eds
[ros2_control_node-1] [INFO] [1730041196.842186535] [joint_2]: bin file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/robot_control/joint_2.bin
[ros2_control_node-1] Found rpdo mapped object: index=6040 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=6060 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=607a subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=6060 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=6040 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=607a subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=6040 subindex=0
[ros2_control_node-1] Found rpdo mapped object: index=60ff subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6041 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6061 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6064 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=606c subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6041 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6064 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=6041 subindex=0
[ros2_control_node-1] Found tpdo mapped object: index=606c subindex=0
[ros2_control_node-1] [INFO] [1730041196.847445130] [joint_2]: Driver booted and ready.
[ros2_control_node-1] [INFO] [1730041196.847711499] [joint_2]: Starting with polling mode.
[ros2_control_node-1] [INFO] [1730041196.848257590] [device_container]: Initialisation successful.
[ros2_control_node-1] [INFO] [1730041196.848529663] [resource_manager]: Successful 'configure' of hardware 'test_robot'
[ros2_control_node-1] [INFO] [1730041196.848557996] [resource_manager]: 'activate' hardware 'test_robot'
[ros2_control_node-1] [INFO] [1730041196.851993856] [canopen_402_driver]: Init: Read State
[ros2_control_node-1] [INFO] [1730041196.852053708] [canopen_402_driver]: Init: Enable
[ros2_control_node-1] [INFO] [1730041196.855126310] [canopen_402_driver]: Fault reset
[cia402_slave_node-5] [INFO] [1730041196.855422272] [cia402_slave]: Received Shutdown.
[cia402_slave_node-5] [INFO] [1730041196.855447901] [cia402_slave]: Ready_To_Switch_On
[cia402_slave_node-6] [INFO] [1730041196.858893502] [cia402_slave]: Switch_On_Disabled
[cia402_slave_node-5] [INFO] [1730041196.884846848] [cia402_slave]: Received Switch On.
[cia402_slave_node-5] [INFO] [1730041196.884883237] [cia402_slave]: Switched_On
[cia402_slave_node-5] [INFO] [1730041196.905176082] [cia402_slave]: Received Enable Operation.
[cia402_slave_node-5] [INFO] [1730041196.905211600] [cia402_slave]: Operation_Enable
[ros2_control_node-1] [INFO] [1730041196.925176465] [canopen_402_driver]: Init: Switch to homing
[ros2_control_node-1] [INFO] [1730041196.944835386] [canopen_402_driver]: Init: Execute homing
[ros2_control_node-1] [INFO] [1730041196.945796494] [canopen_402_driver]: Init: Switch no mode
[ros2_control_node-1] [INFO] [1730041196.948910670] [canopen_402_driver]: Init: Read State
[ros2_control_node-1] [INFO] [1730041196.948961503] [canopen_402_driver]: Init: Enable
[cia402_slave_node-5] [INFO] [1730041196.955025873] [cia402_slave]: Joined interpolated_position_mode thread.
[ros2_control_node-1] [INFO] [1730041196.958181512] [canopen_402_driver]: Fault reset
[cia402_slave_node-6] [INFO] [1730041196.958661251] [cia402_slave]: Received Shutdown.
[cia402_slave_node-6] [INFO] [1730041196.958689177] [cia402_slave]: Ready_To_Switch_On
[cia402_slave_node-6] [INFO] [1730041196.988238512] [cia402_slave]: Received Switch On.
[cia402_slave_node-6] [INFO] [1730041196.988274827] [cia402_slave]: Switched_On
[cia402_slave_node-6] [INFO] [1730041197.028311981] [cia402_slave]: Received Enable Operation.
[cia402_slave_node-6] [INFO] [1730041197.028350185] [cia402_slave]: Operation_Enable
[ros2_control_node-1] [INFO] [1730041197.048885733] [canopen_402_driver]: Init: Switch to homing
[cia402_slave_node-6] [INFO] [1730041197.058602536] [cia402_slave]: Received Disable Voltage.
[cia402_slave_node-6] [INFO] [1730041197.058639092] [cia402_slave]: Switch_On_Disabled
[cia402_slave_node-6] [INFO] [1730041197.118354594] [cia402_slave]: Received Shutdown.
[cia402_slave_node-6] [INFO] [1730041197.118389390] [cia402_slave]: Ready_To_Switch_On
[cia402_slave_node-6] [INFO] [1730041197.148236965] [cia402_slave]: Received Switch On.
[cia402_slave_node-6] [INFO] [1730041197.148274742] [cia402_slave]: Switched_On
[cia402_slave_node-6] [INFO] [1730041197.178268780] [cia402_slave]: Received Enable Operation.
[cia402_slave_node-6] [INFO] [1730041197.178310039] [cia402_slave]: Operation_Enable
[ros2_control_node-1] [INFO] [1730041197.208085096] [canopen_402_driver]: Init: Execute homing
[ros2_control_node-1] [INFO] [1730041197.209123741] [canopen_402_driver]: Init: Switch no mode
[ros2_control_node-1] [INFO] [1730041197.209220796] [resource_manager]: Successful 'activate' of hardware 'test_robot'
[ros2_control_node-1] [INFO] [1730041197.209253759] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
[cia402_slave_node-6] [INFO] [1730041197.218737637] [cia402_slave]: Joined interpolated_position_mode thread.
[ros2_control_node-1] [INFO] [1730041197.310355985] [controller_manager]: Loading controller : 'forward_position_controller' of type 'forward_command_controller/ForwardCommandController'
[ros2_control_node-1] [INFO] [1730041197.310431837] [controller_manager]: Loading controller 'forward_position_controller'
[ros2_control_node-1] [INFO] [1730041197.312901589] [controller_manager]: Controller 'forward_position_controller' node arguments: --ros-args --params-file /tmp/launch_params_lwqvqtt1 --params-file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/robot_control/ros2_controllers.yaml
[spawner-3] [INFO] [1730041197.346284912] [spawner_forward_position_controller]: Loaded forward_position_controller
[ros2_control_node-1] [INFO] [1730041197.347915740] [controller_manager]: Loading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'
[ros2_control_node-1] [INFO] [1730041197.348014499] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1730041197.354353443] [controller_manager]: Controller 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lwqvqtt1 --params-file /home/yoshi/ros2_canopen/install/canopen_tests/share/canopen_tests/config/robot_control/ros2_controllers.yaml
[spawner-2] [INFO] [1730041197.386410566] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1730041197.389388317] [controller_manager]: Configuring controller: 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1730041197.389588001] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-1] [INFO] [1730041197.407246577] [controller_manager]: Activating controllers: [ joint_state_broadcaster ]
[spawner-2] [INFO] [1730041197.426535277] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-1] [INFO] [1730041197.432483221] [controller_manager]: Configuring controller: 'forward_position_controller'
[ros2_control_node-1] [INFO] [1730041197.435738396] [forward_position_controller]: configure successful
[ros2_control_node-1] [INFO] [1730041197.449578113] [controller_manager]: Activating controllers: [ forward_position_controller ]
[ros2_control_node-1] [INFO] [1730041197.454406209] [joint1]: Switching to 'joint1/position' command mode with CIA402 operation mode '1'
[cia402_slave_node-5] [INFO] [1730041197.465688990] [cia402_slave]: run_profiled_position_mode
[cia402_slave_node-5] [INFO] [1730041197.465753712] [cia402_slave]: Profile_Speed 1.000000, Profile Acceleration: 2.000000
[ros2_control_node-1] [INFO] [1730041197.474995461] [joint2]: Switching to 'joint2/position' command mode with CIA402 operation mode '1'
[cia402_slave_node-6] [INFO] [1730041197.478775801] [cia402_slave]: Received Disable Voltage.
[cia402_slave_node-6] [INFO] [1730041197.478826949] [cia402_slave]: Switch_On_Disabled
[cia402_slave_node-6] [INFO] [1730041197.548379699] [cia402_slave]: Received Shutdown.
[cia402_slave_node-6] [INFO] [1730041197.548417661] [cia402_slave]: Ready_To_Switch_On
[cia402_slave_node-6] [INFO] [1730041197.588159632] [cia402_slave]: Received Switch On.
[cia402_slave_node-6] [INFO] [1730041197.588199447] [cia402_slave]: Switched_On
[cia402_slave_node-6] [INFO] [1730041197.618121355] [cia402_slave]: Received Enable Operation.
[cia402_slave_node-6] [INFO] [1730041197.618162558] [cia402_slave]: Operation_Enable
[cia402_slave_node-6] [INFO] [1730041197.618435150] [cia402_slave]: run_profiled_position_mode
[cia402_slave_node-6] [INFO] [1730041197.618473280] [cia402_slave]: Profile_Speed 1.000000, Profile Acceleration: 2.000000
[ros2_control_node-1] [INFO] [1730041197.638154978] [forward_position_controller]: activate successful
[spawner-3] [INFO] [1730041197.640885340] [spawner_forward_position_controller]: Configured and activated forward_position_controller
[INFO] [spawner-2]: process has finished cleanly [pid 28935]
[INFO] [spawner-3]: process has finished cleanly [pid 28936]
このロボットは、ID=5とID=6のモータを動かしているようですね。
実行中に、もう一つのssh接続画面で、topicの内容を見ると、/joint_1と/joint_2という二つのモータ？へのトピックが流れているのがわかります。たぶん。
ros2 topic list
/diagnostics
/dynamic_joint_states
/forward_position_controller/commands
/forward_position_controller/transition_event
/joint_1/joint_states
/joint_1/nmt_state
/joint_1/rpdo
/joint_1/tpdo
/joint_2/joint_states
/joint_2/nmt_state
/joint_2/rpdo
/joint_2/tpdo
/joint_state_broadcaster/transition_event
/joint_states
/parameter_events
/robot_description
/rosout
/slave_node_1/transition_event
/slave_node_2/transition_event
/tf
/tf_static
いずれのサンプルも動作しました。