ylo2@ylo2-UP-WHL01:~/catkin_ws/src/pcan2moteus/scripts$ python3 pcan2moteus_ros.py
Running Main() :
  --- The 4 ports have been correctly initialized
    --- Position orders are sent to motors
    --- Position commands are queried :
[nan, '0.09854380041360855', '-0.0010986328125', 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
        --- Motors are stopped, now




Running Main() :
[ERROR] [1630863596.576500]: bad callback: <function callback at 0x7f8ce3527430>
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback
    cb(msg)
  File "pcan2moteus_ros.py", line 77, in callback
    asyncio.run(main(y), debug=True)
  File "/usr/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "pcan2moteus_ros.py", line 68, in main
    await app.send_commands(commands)
  File "pcan2moteus_ros.py", line 47, in send_commands
    FL = await self.pcanBus1.cycle([
  File "/home/ylo2/.local/lib/python3.8/site-packages/moteus/pythoncan.py", line 59, in cycle
    reply = await self._do_command(x)
  File "/home/ylo2/.local/lib/python3.8/site-packages/moteus/pythoncan.py", line 71, in _do_command
    reply = await self._reader.get_message()
  File "/usr/lib/python3.8/asyncio/queues.py", line 163, in get
    await getter
RuntimeError: Task <Task pending name='Task-3' coro=<main() running at pcan2moteus_ros.py:68> cb=[_run_until_complete_cb() at /usr/lib/python3.8/asyncio/base_events.py:184] created at /usr/lib/python3.8/asyncio/base_events.py:595> got Future <Future pending created at /usr/lib/python3.8/asyncio/base_events.py:422> attached to a different loop

Exception in thread can.notifier for bus "PCAN_PCIBUS1":
Traceback (most recent call last):
  File "/home/ylo2/.local/lib/python3.8/site-packages/can/notifier.py", line 99, in _rx_thread
    self._loop.call_soon_threadsafe(
  File "/usr/lib/python3.8/asyncio/base_events.py", line 764, in call_soon_threadsafe
    self._check_closed()
  File "/usr/lib/python3.8/asyncio/base_events.py", line 508, in _check_closed
    raise RuntimeError('Event loop is closed')
RuntimeError: Event loop is closed

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner
    self.run()
  File "/usr/lib/python3.8/threading.py", line 870, in run
    self._target(*self._args, **self._kwargs)
  File "/home/ylo2/.local/lib/python3.8/site-packages/can/notifier.py", line 107, in _rx_thread
    self._loop.call_soon_threadsafe(self._on_error, exc)
  File "/usr/lib/python3.8/asyncio/base_events.py", line 764, in call_soon_threadsafe
    self._check_closed()
  File "/usr/lib/python3.8/asyncio/base_events.py", line 508, in _check_closed
    raise RuntimeError('Event loop is closed')
RuntimeError: Event loop is closed