ROS_CANOpen motor synchronization problem
I am using ROS_CANOpen to control a differential drive robot, and using the "profiled position" drive mode. I used schunk_lwa4p as a template: https://github.com/ipa320/schunk_robo...
When I publish my target position to the topic /arm/joint_group_position_controller/command, sometimes my motors do not start at the same time. Checking my logs, I found that sometimes one motor will begin moving one sync interval later than the other. This is very noticeable because I am having to run at a very slow sync interval of 200ms as a result of this ROS_CANOpen issue: https://github.com/ipa320/schunk_robo... and the seemingly related https://github.com/ros-industrial/ros... (which increasing tx queue length helps but doesn't resolve).
It may be notable that I could not reproduce this problem using "profile velocity" mode.
Thank you for reading
Cross-posted: ros-industrial/ros_canopen#315.
Correct. Is that ok?
cross-posting is typically frowned upon, as it leads to split discussions, with duplication of effort as a result.
Sorry about that. Should I delete one of them? I thought if there was a fix on my end it would get addressed here and if there was a fix needed on the ROS_CANOpen end it would get addressed there.