Master Driver
The master driver handles the creation of the necessary can interface and sets up a canopen event loop which drivers can hook onto. In addition, the node offers services for communicating with nodes via nmt and sdo.
Type |
Package |
Name |
|---|---|---|
lifecycle |
canopen_master_driver |
ros2_canopen::LifecycleMasterDriver |
simple |
canopen_master_driver |
ros2_canopen::MasterDriver |
Services
Services |
Type |
Description |
|---|---|---|
~/read_sdo |
COReadID |
Reads an SDO object specified by Index, Subindex and Datatype of the device with the specified nodeid. |
~/write_sdo |
COWriteID |
Writes Data to an SDO object specified by Index, Subindex and Datatype on the device with the specified nodeid. |
~/set_heartbeat |
COHeartbeatID |
Sets the heartbeat of the device with the specified nodeid to the heartbeat value (ms) |
~/set_nmt |
CONmtID |
Sends the NMT command to the device with the specified nodeid |