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canopen flow_chart

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11 views

canopen flow_chart

Uploaded by

wimiwi7578
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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CANOpen_Motor_driver

1) CAN node id
2) eds file path
3) CAN channel \Cmd_vel
3) CAN bus bustype (ROS_topic input)
4) bitrate
5) gear ratio
6) max vel limit
7) wheel separation
8) wheel radius
9) update rate \motor_driver_status
\left_motor_status
canopen_motor_driver (ROS_node)
\right_motor_status
(ROS_topic output)

( Position, velocity, Torque,


operation mode
Current, voltage, operation
left motor rpm
mode, axis state, disarm
right motor rpm
reason ), feedbacks

Start canopen_core
Required "canopen" python module

CAN node id False


try:
eds file path
Open
bustype
Connection
bitrate

True

Reconnect add CAN node


Initialize node
Configure pdo's

False
Check
connection

True

check if Fault fault


operation
(reset fault)
state

If Operation
enable

set operational mode


set velocity canopen module
get feedback data

CAN

Clean up node and


network
Motor Drive
Wheel Odometry

\left_motor_status.velocity
\right_motor_status.velocity
(ROS_topic Input)

1) gear ratio
2) wheel separation
Wheel_odometry_node 3) wheel radius
4) publish tf
5) update rate

Calculate Odometry ,
joint state, tf

if publish tf

True
(ROS_topic output)
\wheel\odometry (ROS_topic output)
\joint_states \tf
\robot_velocity

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