ROS_CANOpen NMT (+jerk during PP-PV mode switch)

edit

Hello,

I am trying to implement on-the-fly mode switching between Profiled-Position and Profiled-Velocity mode using ROS_CANOpen. Unfortunately, my particular drive hardware (Elmo) produces an abrupt jerking motion during the switch, even if the robot is not in motion. To resolve this, I would like to switch the NMT state from Operational to Pre-Operational mode, process the mode switch, and then switch back to Operational.

Is there a provision for my situation in ROS_CANOpen? Does the stack provide a way to control the NMT? Or is there a better way to fix my jerk problem?

Thank you for reading