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00
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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Operator report

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

01

System boundary

Trace only the relevant path.

3 nodes
  1. 01ros2_control update→
  2. 02SDO request-response→
  3. 03drive target velocityOUT
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
  • Update p99 below 10 ms
  • SDO count stable during control
  • Hidden regression behavior
  • Root cause explanation