From 785ecb8eff0207a3b29732075f9bf8861d34291b Mon Sep 17 00:00:00 2001 From: ipa-vsp Date: Wed, 6 Dec 2023 08:51:45 +0000 Subject: [PATCH] change from 100ms to 2000ms --- canopen/sphinx/user-guide/configuration.rst | 2 +- .../canopen_core/node_interfaces/node_canopen_master.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/canopen/sphinx/user-guide/configuration.rst b/canopen/sphinx/user-guide/configuration.rst index 25136279..dc915f2e 100644 --- a/canopen/sphinx/user-guide/configuration.rst +++ b/canopen/sphinx/user-guide/configuration.rst @@ -111,7 +111,7 @@ but come from the lely core library. Below you find a list of possible configura reset_all_nodes; Specifies whether all slaves shall be reset in case of an error event on a mandatory slave (default: false, see bit 4 in object 1F80). stop_all_nodes; Specifies whether all slaves shall be stopped in case of an error event on a mandatory slave (default: false, see bit 6 in object 1F80). boot_time; The timeout for booting mandatory slaves in ms (default: 0, see object 1F89). - boot_timeout; The timeout for booting all slaves in ms (default: 100ms). + boot_timeout; The timeout for booting all slaves in ms (default: 2000ms). Device Section -------------- diff --git a/canopen_core/include/canopen_core/node_interfaces/node_canopen_master.hpp b/canopen_core/include/canopen_core/node_interfaces/node_canopen_master.hpp index 82d403b1..29ec2375 100644 --- a/canopen_core/include/canopen_core/node_interfaces/node_canopen_master.hpp +++ b/canopen_core/include/canopen_core/node_interfaces/node_canopen_master.hpp @@ -180,7 +180,7 @@ class NodeCanopenMaster : public NodeCanopenMasterInterface this->node_->get_logger(), "No timeout parameter found in config file. Using default value of 100ms."); } - this->timeout_ = timeout.value_or(100); + this->timeout_ = timeout.value_or(2000); RCLCPP_INFO_STREAM( this->node_->get_logger(), "Master boot timeout set to " << this->timeout_ << "ms."); }