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In productionProadvancedCANopen identity

Two drives answer as one node

Restore deterministic left/right drive identity without filtering duplicate frames.

Pairs with CANopen objects and heartbeats in Hardware Integration & CANopen. Read the concept first, then diagnose it here.

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Operator report

Heartbeat timing jitters and SDO responses contain conflicting values for node 3.

Ubuntu 24.04, ROS 2 Jazzy, SocketCAN vcan, CANopen drive simulator, ros2_control

01

System boundary

Trace only the relevant path.

3 nodes
  1. 01left drive identity→
  2. 02CAN arbitration ID→
  3. 03CANopen masterOUT
02

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.

03

Verification

Pass more than the visible symptom.

4 checks
  • Unique node IDs
  • Stable heartbeat per drive
  • Hidden regression behavior
  • Root cause explanation