CanOpen ROS Package - getting started

[shinji0]

HI everyone!

I am new here and i am beginning my first adventure with Core 2-ROS. Because of its compatibility and flexibility, core 2-ros is the best choice for my project.

I am going to create an application with motors control over CanOpen. I have some experience with canopen, but i am totally new in ROS.

So I have few questions at this point:

1. I’ve found the canopen package for ROS: GitHub - ros-industrial/ros_canopen: CANopen driver framework for ROS (http://wiki.ros.org/ros_canopen) . But how can I merge this package to the CORE2? Is there any tutorial for importing external ROS packages?
2. Is there something particularly tricky about integrating this canopen package? Has anyone used this before in CORE2 ?
3. Any ROS - learning advices ?

I have already ordered my core2 and i am really curious how hard would it be to get the canopen package to work.

[Hubert_Zwiercan]

Hi shinji0,

Here are the answers for your question:

1. You just have to type ‘sudo apt install ros-kinetic-ros-canopen’ in terminal to install this pkg. Few links with examples and API:
   https://husarion.com/core2/api_reference/classh_framework_1_1h_c_a_n.html
   hFramework/Interfaces_can_receive.cpp at master · husarion/hFramework · GitHub
   hFramework/Interfaces_can_send.cpp at master · husarion/hFramework · GitHub
2. I haven’t seen any project of our costumers with ros-canopen pkg, but I don’t know about all of them
3. You can start your ROS journey with our ROS Tutorials:
   ROS introduction | Husarion
   We also recommend to check out “The Construct” channel on YT:
   https://www.youtube.com/channel/UCt6Lag-vv25fTX3e11mVY1Q

I think that get this pkg work will be quite easy you will see.

Regards,
Hubert

[shinji0]

Thank You Hubert_Zwiercian for all the information!

[shinji0]

Hello
I am having problems with ros-canopen installation.

I am getting the following errors when running “sudo apt install ros-kinetic-ros-canopen”

Err:1 http://packages.ros.org/ros/ubuntu xenial/main armhf ros-kinetic-can-msgs armhf 0.7.9-0xenial-20180826-005728-0800
  404  Not Found [IP: 140.211.166.134 80]
Err:2 http://packages.ros.org/ros/ubuntu xenial/main armhf ros-kinetic-socketcan-interface armhf 0.7.9-0xenial-20180825-095750-0800
  404  Not Found [IP: 140.211.166.134 80]
Err:3 http://packages.ros.org/ros/ubuntu xenial/main armhf ros-kinetic-canopen-master armhf 0.7.9-0xenial-20180825-220238-0800
  404  Not Found [IP: 140.211.166.134 80]
Err:4 http://packages.ros.org/ros/ubuntu xenial/main armhf ros-kinetic-canopen-402 armhf 0.7.9-0xenial-20180825-223846-0800
  404  Not Found [IP: 140.211.166.134 80]
Err:5 http://packages.ros.org/ros/ubuntu xenial/main armhf ros-kinetic-canopen-chain-node armhf 0.7.9-0xenial-20181107-223112-0800
  404  Not Found [IP: 140.211.166.134 80]
Err:6 http://packages.ros.org/ros/ubuntu xenial/main armhf ros-kinetic-canopen-motor-node armhf 0.7.9-0xenial-20181108-050647-0800
  404  Not Found [IP: 140.211.166.134 80]
Err:7 http://packages.ros.org/ros/ubuntu xenial/main armhf ros-kinetic-socketcan-bridge armhf 0.7.9-0xenial-20180826-044520-0800
  404  Not Found [IP: 140.211.166.134 80]
Err:8 http://packages.ros.org/ros/ubuntu xenial/main armhf ros-kinetic-ros-canopen armhf 0.7.9-0xenial-20181108-053217-0800
  404  Not Found [IP: 140.211.166.134 80]
E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-can-msgs/ros-kinetic-can-msgs_0.7.9-0xenial-20180826-005728-0800_armhf.deb  404  Not Found [IP: 140.211.166.134 80]

E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-socketcan-interface/ros-kinetic-socketcan-interface_0.7.9-0xenial-20180825-095750-0800_armhf.deb  404  Not Found [IP: 140.211.166.134 80]

E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-canopen-master/ros-kinetic-canopen-master_0.7.9-0xenial-20180825-220238-0800_armhf.deb  404  Not Found [IP: 140.211.166.134 80]

E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-canopen-402/ros-kinetic-canopen-402_0.7.9-0xenial-20180825-223846-0800_armhf.deb  404  Not Found [IP: 140.211.166.134 80]

E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-canopen-chain-node/ros-kinetic-canopen-chain-node_0.7.9-0xenial-20181107-223112-0800_armhf.deb  404  Not Found [IP: 140.211.166.134 80]

E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-canopen-motor-node/ros-kinetic-canopen-motor-node_0.7.9-0xenial-20181108-050647-0800_armhf.deb  404  Not Found [IP: 140.211.166.134 80]

E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-socketcan-bridge/ros-kinetic-socketcan-bridge_0.7.9-0xenial-20180826-044520-0800_armhf.deb  404  Not Found [IP: 140.211.166.134 80]

E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-ros-canopen/ros-kinetic-ros-canopen_0.7.9-0xenial-20181108-053217-0800_armhf.deb  404  Not Found [IP: 140.211.166.134 80]

E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?

I tried to run apt-get update and --fix-missing option, but that didn’t help.
It seems that canopen package on packages.ros.org was updated in July, but I can not access the updated packages with apt-get.

Any ideas why is this happening?

[Hubert_Zwiercan]

Hi shinji0,

Did you update your GPG keys? Please look at this topic and try to do this:

Very important! Update for GPG keys in ROS repositories

Hi Everyone, Few days ago GPG keys was updated. Please see post of @lukasz.mitka about this: There was recently update for GPG keys in ROS repositories, you can change them with: sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116 More details are explained on ROS discourse. Regards, Łukasz Note that everyone who use ROS have to execute this commands. Best regards, Hu…

It should solve your issue.

Best regards,
Hubert

[shinji0]

Thank You Hubert! Installation went perfectly after this update