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Ignore typical tx messages in recv callback log warnings #36

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Merged
samuelsadok merged 2 commits into from
May 21, 2025
Merged

Ignore typical tx messages in recv callback log warnings #36

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e0a570d
ignore unused tx messages in recv callback
erbornemeier May 7, 2025
d39b968
Add clarifying comment to new ignored messages
erbornemeier May 20, 2025
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8 changes: 8 additions & 0 deletions odrive_node/src/odrive_can_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -155,6 +155,14 @@ void ODriveCanNode::recv_callback(const can_frame& frame) {
ctrl_pub_flag_ |= 0b1000;
break;
}
case CmdId::kSetAxisState:
case CmdId::kSetControllerMode:
case CmdId::kSetInputPos:
case CmdId::kSetInputVel:
case CmdId::kSetInputTorque:
case CmdId::kClearErrors: {
break; // Ignore commands coming from another master/host on the bus
}
default: {
RCLCPP_WARN(rclcpp::Node::get_logger(), "Received unused message: ID = 0x%x", (frame.can_id & 0x1F));
break;
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