Cia402 Driver
========================

The Cia402 Driver implements the CIA402 profile for motion controllers and enables setting
the drive status, operation mode and sending target values to the motion controller.


Services
--------

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  * - Services
    - Type
    - Description
  * - ~/nmt_reset_node
    - Trigger
    - Resets CANopen Device the Proxy Device Node manages.
  * - ~/sdo_read
    - CORead
    - Reads an SDO object from the specified index, subindex and datatype of the remote device.
  * - ~/sdo_write
    - COWrite
    - Writes data to an SDO object on the specified index, subindex and datatype of the remote device.
  * - ~/init
    - Trigger
    - Initialises motion controller including referencing
  * - ~/recover
    - Trigger
    - Recovers motion controller
  * - ~/halt
    - Trigger
    - Stops motion controller
  * - ~/position_mode
    - Trigger
    - Switches to profiled position mode
  * - ~/velocity_mode
    - Trigger
    - Switches to profiled velocity mode
  * - ~/torque_mode
    - Trigger
    - Switches to profiled torque mode
  * - ~/cyclic_position_mode
    - Trigger
    - Switches to cyclic position mode
  * - ~/cyclic_velocity_mode
    - Trigger
    - Switches to cyclic velocity mode
  * - ~/interpolated_position_mode
    - Trigger
    - Switches to interpolated position mode, only linear mode with fixed time is supported
  * - ~/target
    - CODouble
    - Sets the target value. Only accepted when an operation mode is set.

Publishers
----------
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  * - Publishers
    - Type
    - Description
  * - ~/joint_states
    - sensor_msgs/msg/JointState
    - Joint states of the drive


Subscribers
-----------

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  * - Topic
    - Type
    - Description
  * - ~/target
    - COTargetDouble
    - Sets target value.

Bus Configuration Parameters
----------------------------
Additional parameters that can be used in bus.yml for this driver.


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  * - Parameter
    - Type
    - Description
  * - period
    - Milliseconds
    - Refresh period for 402 state machine. Should be similar to sync period of master.
  * - switching_state
    - see below
    - The state to switch the operation mode in.
  * - scale_pos_to_dev
    - double
    - Scaling factor to convert from SI units to device units for position.
  * - scale_vel_to_dev
    - double
    - Scaling factor to convert from SI units to device units for velocity.
  * - scale_pos_from_dev
    - double
    - Scaling factor to convert from device units to SI units for position.
  * - scale_vel_from_dev
    - double
    - Scaling factor to convert from device units to SI units for velocity.