Proxy Driver

A proxy driver which simply forwards CANopen functionality for a specific device via ROS2 services and messages.

Services

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.

Publishers

Topic

Type

Description

~/nmt_state

String

Publishes NMT state on change

~/rpdo

COData

Publishes received PDO objects on reception

Subscribers

Topic

Type

Description

~/tpdo

COData

Writes received data to remote device if the specified object is RPDO mapped on remote device.