NMT Status and Setting NMT state

[millejade]

Describe the bug
In the /nmt_state topic, no data is being published. I tested it with a sample test that the package includes and even the Trinamic Demo, but no data were published.

Setup:

• Device: Ubuntu 22.04
• OS:
• ROS-Distro: Humble
• Branch/Commit: Humble

Additional context

NMT State

I need to check on what is the current NMT state. After reading the documentation for CiA402 Driver, it has a publisher that publishes to /nmt_state which, by description, publishes NMT state on change. But when I tried echoing this topic, no data were being published on this topic. I even tried to call the /init service and move the motor using Profile Position but got the same issue.

1. Is this an expected behavior?
2. Why is there no data being published on this topic?

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Set the NMT state

I came across the documentation of Master Driver and saw a service that sends an NMT command to the device with a specified Node ID. This service, /set_nmt was indicated in the documentation but it couldn't be found on the list of services.

1. Do you have any idea about this?
2. If it existed before, why it was removed?

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Additional Questions:

1. Why are there no logs about the state of NMT?
2. There is an NMT state and CiA402 state - is there a way to get these states? If yes, how we can distinguish it?