Running Examples

In order to tryout the library a few examples are provided in the canopen_tests directory. You can run them if you have started the vcan0 interface.

Service Interface

ros2 launch canopen_tests cia402_setup.launch.py

Managed Service Interface

ros2 launch canopen_tests cia402_lifecycle_setup.launch.py

ROS2 Control

Proxy Setup

ros2 launch canopen_tests canopen_system.launch.py

CiA402 Setup

ros2 launch canopen_tests cia402_system.launch.py

Robot Setup

ros2 launch canopen_tests robot_control_setup.launch.py