ros_canopen: virtual joints, is it possible?

Question

Hello,

Currently I have three working canopen motor drivers, but my system will consists five motors later (the two missing motors have not been delivered yet).

I have already tested some basic motions based on the five motor system in gazebo, and now i wonder is it possible somehow to test these motions on the real robot.

So, i have a JointTrajectoryController, consists of joint_1, joint_2, joint_3, joint_4, joint_5, and (required_drive_mode: 7)

but in the driver.yaml file which is passed to the canopen_motor_node, i only link three joints, namely:

nodes:
  - name: joint_1
    id: 1
  - name: joint_2
    id: 2
  - name: joint_3
    id: 3

My question is: is it possible to somehow, virtually, link joint_4 and joint_5 to the canopen_motor_node? Because with the current yaml file, i got the error that there is no hardware interface for joint_4 and joint_5.

Thank you in advance.

Best regards, Ákos

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Originally posted by akosodry on ROS Answers with karma: 121 on 2018-07-30

Post score: 0

Answer 1

Currently, canopen_motor_node does not offer this feature. Please feel free to open an issue. Of course a pull request would be welcome as well :)

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Originally posted by Mathias Lüdtke with karma: 1596 on 2018-07-30

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by akosodry on 2018-07-30:
Hello Mathias! Thanks for the answer, i opened an issue, can you please check if i did/wrote everythink OK? LINK.