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The config and launch files in canopen_test_utils describe a rather specific set-up. They might be good to copy out some snippets, but in not the full files.

If you start with a slow sync rate (~10Hz), you could try it without any specific PDO mapping. Everthing should work with SDOs as well, but most-likely not at a high rate. PDO mapping could be added afterwards.

First you should identify the drive mode you want to use (not all devices support all modes). Afterwards you can create the controller config for it and setup the units in the driver config.

If i do rosservice list there is no controller_manager:

The controller_manager services will get started during driver/init.

I assume that these messages are OK. But the problem is that i have no topics related to the controllers:

These will get availables after the controller was spawned successfully.

Could not find resource 'rig1_plate_joint' in 'hardware_interface::PositionJointInterface'

Does your drive support mode 1 and reports it in 0x6502?

The config and launch files in canopen_test_utils describe a rather specific set-up. They might be good to copy out some snippets, but in not the full files.

If you start with a slow sync rate (~10Hz), you could try it without any specific PDO mapping. Everthing should work with SDOs as well, but most-likely not at a high rate. PDO mapping could be added afterwards.

First you should identify the drive mode you want to use (not all devices support all modes). Afterwards you can create the controller config for it and setup the units in the driver config.

If i do rosservice list there is no controller_manager:

The controller_manager services will get started during driver/init.

I assume that these messages are OK. But the problem is that i have no topics related to the controllers:

These will get availables after the controller was spawned successfully.

Could not find resource 'rig1_plate_joint' in 'hardware_interface::PositionJointInterface'

Does your drive support mode 1 and reports it in 0x6502?

The config and launch files in canopen_test_utils describe a rather specific set-up. They might be good to copy out some snippets, but not the full files.

If you start with a slow sync rate (~10Hz), you could try it without any specific PDO mapping. Everthing should work with SDOs as well, but most-likely not at a high rate. PDO mapping could be added afterwards.

First you should identify the drive mode you want to use (not all devices support all modes). Afterwards you can create the controller config for it and setup the units in the driver config.

If i do rosservice list there is no controller_manager:

The controller_manager services will get started during driver/init.

I assume that these messages are OK. But the problem is that i have no topics related to the controllers:

These will get availables after the controller was spawned successfully.

Could not find resource 'rig1_plate_joint' in 'hardware_interface::PositionJointInterface'

Does your drive support mode 1 and reports it in 0x6502?