How to modify the initialization process of CANOpen Chain Node?


I’ve been trying to use CANOpen package to control the motor of my robot, but unfortunately I cannot make it work, because there are a few things in the driver that are not fully CANOpen compliant. For instance, the object dictionary 1003sub0 should be writable, but in this driver it is read only, and due to this issue, the driver/init service never succeeds.

I was wondering whether I could slightly modify the canopen initialization procedure, in order to overcome those “minor” issues of the driver. But I can’t figure out how to do it. Please help me…

Thanks in advance.