The driver does not output topic data.

[tx-lidar]

Hello, could you please tell me whether this driver is parsing the cansimple or canopen protocol? I checked candump and confirmed that can0 received data. The driver is also configured with the specified CAN interface and ID, but the published topic has no data output. The driver response is as follows.

Furthermore, even when I send speed control commands via the terminal, the motor doesn't turn. How can I solve this problem?

[samuelsadok]

The ODrive ROS2 node is based on ODrive's custom CAN protocol (CANSimple), which is different from CANOpen (if that was your question).

The high level docs can be found at https://docs.odriverobotics.com/v/latest/guides/ros-package.html
and https://github.com/odriverobotics/ros_odrive/blob/main/odrive_node/README.md.

If the ROS node doesn't output any messages, make sure you have enabled the feedback messages on the ODrive as shown in the docs, specifically this section. I just updated the screenshot to match a recent GUI update.

If the ODrive doesn't react to velocity commands, make sure it is first put into CLOSED_LOOP_CONTROL. See /request_axis_state here. I just updated this section a bit to include more details.