Paul Verhoeckx

Is there a way to re-initialize canopen_402 motor devices without unloading the controllers in the controller manager? On a safety stop my motors are powered off, afterwards they need to...

fix: Use variable to catch fast NMT state transitions

7

Solves #435, by storing the desired state in a variable (`wait_for_state_`). This way [`wait_for()`](https://github.com/ros-industrial/ros_canopen/blob/b80d5904c4c1bd32be25f84d3cca1fe6a6dc5719/canopen_master/src/node.cpp#L122) can cope with fast NMT state transitions.

NMT BootUp state transition is not noticed

1

On initialization the reset communication NMT command is send ([node.cpp#L47](https://github.com/ros-industrial/ros_canopen/blob/b80d5904c4c1bd32be25f84d3cca1fe6a6dc5719/canopen_master/src/node.cpp#L47)) after which it will wait until the NMT state `BootUp` (`=0`) is reached. Occasionally this state is missed, due to...

Noetic release

3

Can the noetic release be expected anytime soon? Thanks in advance.