def get_object_map(id_offset: int) -> dict:
    """
    Returns ID to communication object mapping of a given CAN node ID.
    Map taken from https://en.wikipedia.org/wiki/CANopen#Predefined_Connection_Set[7]
    """
    return {
        0x000               : "NMT_CONTROL",
        0x001               : "FAILSAFE",
        0x080               : "SYNC",
        0x080 + id_offset   : "EMERGENCY",
        0x100               : "TIMESTAMP",
        0x180 + id_offset   : "TPDO1",
        0x200 + id_offset   : "RPDO1",
        0x280 + id_offset   : "TPDO2",
        0x300 + id_offset   : "RPDO2",
        0x380 + id_offset   : "TPDO3",
        0x400 + id_offset   : "RPDO3",
        0x480 + id_offset   : "TPDO4",
        0x500 + id_offset   : "RPDO4",
        0x580 + id_offset   : "TSDO",
        0x600 + id_offset   : "RSDO",
        0x700 + id_offset   : "NMT_MONITORING",
        0x7E4               : "TLSS",
        0x7E5               : "RLSS"
    }