Difference between kacanopen and ros_canopen?

edit

I'm attempting to get the output from a Kuebler 5868 draw wire encoder into ROS. The 5868 encoder is a CANOpen device that outputs the draw wire position over the CANbus.

My setup is Indigo running on Ubuntu 14.04 on a PC. Once I've decided between the two libraries I will be using a Raspberry Pi with Rasbian and a CAN shield to listen on the CANBus. My eventual goal is to broadcast the position of the draw wire so MoveIt can compute the extension of a hydraulic boom.

My difficulty at the moment is in working out whether I should be using ROS_canopen or kacanopen to interface with the encoder. I've been trying to understand how to use ROS_canopen for a few hours and haven't had a great deal of luck. Can anyone outline the key differences between these two packages and advise which will be easiest to work with?

EDIT:

Here's my launch file:

    <launch>
    <arg name="yaml" default="$(find extension_publisher)/draw_encoder.yaml" />

    <node name="canopen_chain_node" pkg="canopen_chain_node" type="canopen_chain_node"  output="screen"/>
   </launch>

And here's my yaml:

bus:
  device: can0 # socketcan network, this will require changing based on PLC config
  master_allocator: canopen::ExternalMaster::Allocator 
sync:
  interval_ms: 10 # set to 0 to disable sync
  overflow: 0 # overflow sync counter at value or do not set it (0, default)

nodes:
  defaults: # optional, all defaults can be overwritten per node
    eds_pkg: extension_publisher # optional package  name for relative path
    eds_file: "/kuebler_drivers/S58X8MT_HC.eds"
  node1:
    id: 1
    name: draw_position
    eds_file: "/kuebler_drivers/S58X8MT_HC.eds" #path to EDS/DCF file
    publish: ["6004!"] #Position value
  node2:
    id: 2
    name: draw_speed
    eds_file: "/kuebler_drivers/S58X8MT_HC.eds" #path to EDS/DCF file
    publish: ["6030!"] #Position value

Does that look about right? Thanks!