Failed to register PDO entry: No such file or directory

[zouzhe1]

hello
I have installed igh and everything. When I run roslaunch ether_ ros ether_ Ros. launch, which is an error

[ INFO] [1668064005.140446679]: Got param: slave_root_loc + input_port = 6010
[ INFO] [1668064005.140915152]: Got param: slave_root_loc + output_port = 7000
Failed to register PDO entry: No such file or directory
[FATAL] [1668064005.140979906]: Failed to configure pdo out.
[ether_comm-2] process has died [pid 2643, exit code 1, cmd /home/b/igh/ROS/ether_ros_1109/devel/lib/ether_ros/ether_ros __name:=ether_comm __log:=/home/b/.ros/log/3bc2297c-60c6-11ed-bc35-35dde927bbf0/ether_comm-2.log].
log file: /home/b/.ros/log/3bc2297c-60c6-11ed-bc35-35dde927bbf0/ether_comm-2*.log

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I know that the data in the official igh routine is not put into your package, such as the following data.
Because I don't know how to put these PDO code and SDO into your pack？

#define estun 0x000116c7,0x003e0402
ec_pdo_entry_reg_t domainServoOutput_regs[] = {
{estun_Pos0, estun, 0x6040, 0x00, &cntlwd, NULL},
{estun_Pos0, estun, 0x607a, 0x00, &ipData, NULL},
{estun_Pos0, estun, 0x6060, 0x00, &modes_of_operation, NULL},
{}
};
ec_pdo_entry_reg_t domainServoInput_regs[] = {
{estun_Pos0, estun, 0x6064, 0x00, &actpos, NULL},
{estun_Pos0, estun, 0x6041, 0x00, &status, NULL},
{estun_Pos0, estun, 0x6061, 0x00, &modes_of_operation_display, NULL},
{estun_Pos0, estun, 0x603f, 0x00, &error_code, NULL},
{}
};
ec_pdo_entry_info_t estun_pdo_entries[] = {
{0x6040, 0x00, 16}, /* Controlword /
{0x6060, 0x00, 8}, / Modes of operation /
{0x607a, 0x00, 32}, / Target position /
{0x60b8, 0x00, 16}, / Touch probe function /
{0x603f, 0x00, 16}, / Error code /
{0x6041, 0x00, 16}, / Statusword /
{0x6061, 0x00, 8}, / Modes of operation display /
{0x6064, 0x00, 32}, / Position actual value /
{0x60b9, 0x00, 16}, / Touch probe status /
{0x60ba, 0x00, 32}, / Touch probe pos1 pos value /
{0x60f4, 0x00, 32}, / Following error actual value /
{0x60fd, 0x00, 32}, / Digital inputs */
};

ec_pdo_info_t estun_pdos[] = {
{0x1600, 4, estun_pdo_entries + 0}, /* Receive PDO mapping 1 /
{0x1a00, 8, estun_pdo_entries + 4}, / Transmit PDO mapping 1 */
};

ec_sync_info_t estun_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, estun_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, estun_pdos + 1, EC_WD_DISABLE},
{0xff}
};

Can you tell me where to put it? How?

very thanks