Schunk LWA4P initialization problem with ros_canopen

asked 2019-06-13 05:00:58 -0500

verena gravatar image

updated 2019-06-13 07:25:47 -0500

Hi,

I try to launch a LW4P with ros_canopen. I use ROS kinetic and a PCAN-USB Pro adapter. I already tried out the suggestions on similar problems on ROS answers and on GitHub but unfortunately my issue remains.

First I setup my CAN interface

$ ~/catkin-pem-robot-v2# sudo ip link set can0 down
$ ~/catkin-pem-robot-v2# sudo ip link set can0 up type can bitrate 500000
$ ~/catkin-pem-robot-v2# sudo ip link set can0 up txqueuelen 20

Then I launch the robot

$ ~/catkin-pem-robot-v2$ roslaunch pem_robot pem_robot_v3.launch 
WARNING: Could not change permissions for folder [/home/verena/.ros/log/c8077c0a-8dbd-11e9-b028-ac7ba18b123a], make sure that the parent folder has correct permissions.
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://verena-CELSIUS-H730:33227/

SUMMARY
========

CLEAR PARAMETERS
 * /lh_arm/driver/

PARAMETERS
 * /joint_state_mixer/robot_description: <?xml version="1....
 * /lh_arm/driver/bus/device: can0
 * /lh_arm/driver/defaults/dcf_overlay/604Csub1: 1
 * /lh_arm/driver/defaults/dcf_overlay/604Csub2: 24000
 * /lh_arm/driver/defaults/dcf_overlay/6060: 1
 * /lh_arm/driver/defaults/eds_file: config/Schunk_0_6...
 * /lh_arm/driver/defaults/eds_pkg: pem_arm_lh
 * /lh_arm/driver/defaults/vel_to_device: rint(rad2deg(vel)...
 * /lh_arm/driver/name: arm
 * /lh_arm/driver/nodes/lh_arm_0_joint/id: 10
 * /lh_arm/driver/nodes/lh_arm_1_joint/id: 5
 * /lh_arm/driver/nodes/lh_arm_2_joint/id: 6
 * /lh_arm/driver/nodes/lh_arm_3_joint/id: 3
 * /lh_arm/driver/nodes/lh_arm_4_joint/id: 4
 * /lh_arm/driver/nodes/lh_arm_5_joint/id: 7
 * /lh_arm/driver/nodes/lh_arm_6_joint/id: 8
 * /lh_arm/driver/sync/interval_ms: 50
 * /lh_arm/driver/sync/overflow: 0
 * /lh_arm/hardware_control_loop/loop_hz: 125
 * /lh_arm/hardware_interface/joints: ['lh_arm_0_joint'...
 * /lh_arm/joint_state_controller/publish_rate: 50
 * /lh_arm/joint_state_controller/type: joint_state_contr...
 * /lh_arm/pos_based_pos_traj_controller_arm_lh/joints: ['lh_arm_0_joint'...
 * /lh_arm/pos_based_pos_traj_controller_arm_lh/publish_rate: 50
 * /lh_arm/pos_based_pos_traj_controller_arm_lh/required_drive_mode: 7
 * /lh_arm/pos_based_pos_traj_controller_arm_lh/type: position_controll...
 * /lh_arm/robot_description: <?xml version="1....
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /lh_arm/
    driver (canopen_motor_node/canopen_motor_node)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_initialization (rosservice/rosservice)
    ros_control_controller_spawner (controller_manager/spawner)
  /
    joint_state_mixer (pem_robot/joint_state_mixer.py)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [6027]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c8077c0a-8dbd-11e9-b028-ac7ba18b123a
process[rosout-1]: started with pid [6052]
started core service [/rosout]
process[lh_arm/driver-2]: started with pid [6071]
process[lh_arm/ros_control_controller_spawner-3]: started with pid [6072]
process[lh_arm/joint_state_publisher-4]: started with pid [6073]
process[lh_arm/robot_initialization-5]: started with pid [6074]
process[joint_state_mixer-6]: started with pid [6083]
process[robot_state_publisher-7]: started with pid [6093]
[ INFO] [1560418188.416560376]: Using fixed control period: 0.050000000
[INFO] [1560418188.461155]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1560418188.509712642]: Initializing XXX
[ INFO] [1560418188.510056097]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1560418188.510289199]: Current state: 2 device error: system:0 internal_error: 0 (OK)
EMCY: 8A#2232257400000000
EMCY: 85#223225740000803F
EMCY: 86#2232257400001C42
[ INFO] [1560418199.018367789]: Current state: 2 device error: system:125 internal_error: 0 (OK)
[ INFO] [1560418199.018453747]: Current state: 0 device error: system:125 internal_error: 0 (OK)
[ INFO ...
(more)
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