Skip to content

fix(canopen_ros2_control): return ERROR for non-zero EMCY #387

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
destogl wants to merge 1 commit into
base: master
Choose a base branch
from
Open

fix(canopen_ros2_control): return ERROR for non-zero EMCY #387

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 2 additions & 1 deletion canopen_ros2_control/src/canopen_system.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -290,10 +290,11 @@ hardware_interface::return_type CanopenSystem::read(
canopen_data.emcy_data.original_emcy.msef[0], canopen_data.emcy_data.original_emcy.msef[1],
canopen_data.emcy_data.original_emcy.msef[2], canopen_data.emcy_data.original_emcy.msef[3],
canopen_data.emcy_data.original_emcy.msef[4]);
return hardware_interface::return_type::ERROR;
Copy link

@benmaidel benmaidel Nov 6, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Would it make more sense to avoid returning ERROR in this case, and instead give the system a chance to recover rather than shutting it down?

}
}

return hardware_interface::return_type::ERROR;
return hardware_interface::return_type::OK;
}

hardware_interface::return_type CanopenSystem::write(
Expand Down