Sending position command with target velocity

[mikaelarguedas]

Hi there,
Thanks for all the work on this package, this is a great resource!

I'm new to CANOpen and am aiming to command a (set of) motors in position. Currently I can successfully spawn a position controller and make my motor move to the requested position.

It looks like the motor is running at the maximum velocity defined in the URDF. Is there a way to specify a maximum velocity per command ? or a scaling factor for the velocity of the motion ?
I would like for example to do one motion at 1m/s and the next one at 0.1m/s

---

Looking around this repo I saw some discussion about supporting:

• PosVel mode (Make homing callable #227 (comment))
• custom modes: Add support for custom modes #289

Is any of this related to the solution I'm looking for ? Or is there something already available to accomplish what I'm trying to do ?

Thanks!

Edit: maybe its the ProfiledPositionMode I'm looking for with a way to specify the profile before sending commands ?
It looks like I could set the following objects before each motion to have de different profile for each command: 6081, 6083, 6084. Not sure where is the best way to do it within ros_canopen at the moment

Edit2: I could successfully command a drive in position with velocity profile by setting the objects 6081, 6083, 6084 before each command. This is currently done using the set_object service interface provided by the ros_canopen motor node.
Next steps would be to be able to do this inside the motor node rather than having a node poking its service interfaces. A follow-up would be to be able to set these objects for all drives involved in the motion and sync the beginning of the motion between them