In productionProadvancedCANopen timing
The control loop stalls on SDO traffic
Move cyclic velocity control to process data while retaining SDO configuration.
Pairs with PDO, SDO, and timing in Hardware Integration & CANopen. Read the concept first, then diagnose it here.
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The 100 Hz update loop frequently takes 35 ms and heartbeat deadlines are missed.
Ubuntu 24.04, ROS 2 Jazzy, SocketCAN vcan, CANopen drive simulator, ros2_control
System boundary
Trace only the relevant path.
ros2_control updateSDO request-responsedrive target velocity
How this lab works
You diagnose it — no command list.
Open the repair workspace and gather your own evidence in a real terminal. No diagnostic commands are handed to you — finding the fault is the exercise. Stuck? Progressive hints unlock inside the workspace.
Verification
Your repair must pass more than the visible symptom.
- Update p99 below 10 ms
- SDO count stable during control
- Hidden regression behavior
- Root cause explanation