ROS_CANopen can't start velocity_controller and trajectory_controller

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Hi, I am working with ros_canopen to control a robot arm. The arm uses Copley drives. Please check out the github repo that I'm working on here.

1. The position controller (point to point move) works fine now. A littile problem here is I don't know how to specify the speed during the point-to-point move.

2. When I tried to start the velocity_controller:

   rosrun controller_manager controller_manager start I_Joint_velocity_controller
   

   errors would show up:

   [ERROR]: I_Jointcould not enter mode 2
   [ERROR]: Could not switch one joint for I_Joint_velocity_controller, will stop all related joints and the controller.
   [ERROR]: I_Joint is not ready to switch mode
   [ERROR]: Could not switch controllers. The hardware interface combination for the requested controllers is unfeasible.
   

   and if I start the trajectory_controller:

   rosrun controller_manager controller_manager start joint_trajectory_controller
   

   errors would be:

   abort60c1#1, reason: Invalid value for parameter (download only).
   Could not process message
   
   [ERROR]: RPDO timeout; RPDO timeout;ros_canopen/canopen_master/src/sdo.cpp(429): Throw in function void canopen::SDOClient::transmitAndWait(const canopen::ObjectDict::Entry&, const canopen::String&, canopen::String*)
   Dynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<canopen::TimeoutException> >
   std::exception::what: SDO
   [canopen::tag_objectdict_key*] = 60c1sub1
   

Are these problems caused by wrong configuration of my dcf file? I mapped the PDOs according to the Copley programming manual p. 25

Many thanks.