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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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
System boundary
Trace only the relevant path.
left drive identityCAN arbitration IDCANopen master
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.
- Unique node IDs
- Stable heartbeat per drive
- Hidden regression behavior
- Root cause explanation