Only able to see controller_status msg from one ODrive axis

[ErikParkerrr]

Hi,

I'm running on ROS2 humble with 2 ODrives. When I run ros2 topic echo /odrive_axis0/controller_status I see the message without any problems. When I run ros2 topic echo /odrive_axis1/controller_status, I don't get any messages. I do however see that topic in ros2 topic pub. Interestingly, I have no issue controlling that axis, I just cant get the controller_status. Any ideas? Below is my launch file.

launch:

- node:
    pkg: "odrive_can"
    exec: "odrive_can_node"
    name: "can_node"
    namespace: "odrive_axis0"
    param:
      - name: "node_id"
        value: 0
      - name: "interface"
        value: "can0"

- node:
    pkg: "odrive_can"
    exec: "odrive_can_node"
    name: "can_node"
    namespace: "odrive_axis1"
    param:
      - name: "node_id"
        value: 1
      - name: "interface"
        value: "can0"

[samuelsadok]

It's possible that the ROS node isn't receiving some of the CAN messages that make up Axis1's controller_status information.

The corresponding CAN messages are listed here: https://github.com/odriverobotics/odrive_can?tab=readme-ov-file#publishes. Maybe double check if they are enabled (non-zero interval) on the ODrive. If they are but it's still not working, you can use can_logger to check if the messages appear on the bus.

[johnravenred]

Hi ! ROS2 Humble using Odrive S1. I have problem whenever I run ros2 topic echo /odrive_axis0/controller_status it didn't show any msgs. Can someone help me with this thank you

[samuelsadok]

Did you enable the corresponding messages on the ODrive? The link in my previous comment is outdated, new link here: https://github.com/odriverobotics/ros_odrive/blob/main/odrive_node/README.md#publishes

If yes, do the messages show up in a CAN logger / CAN dump?

[ErikParkerrr]

I never solved this issue, but I switched to ROS2 control anyway. I'll close it for now, but will reopen if this becomes an issue for me again. @johnravenred maybe open a new issue