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[ERROR] [1529588059.984608960]: Throw location unknown (consider using BOOST_THROW_EXCEPTION) Dynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> > std::exception::what: boost: mutex lock failed in pthread_mutex_lock: Invalid argument

This really looks suspicious, I have never seen this before. Which OS/architecture are you using?

Please try to spawn only the joint_state_controller. And why part of the code does issue the ROS error? (check with rqt_console).

[ERROR] [1529588059.984608960]: Throw location unknown (consider using BOOST_THROW_EXCEPTION) Dynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> > std::exception::what: boost: mutex lock failed in pthread_mutex_lock: Invalid argument

This really looks suspicious, I have never seen this before. Which OS/architecture are you using?

Please try to spawn only the joint_state_controller. And why which part of the code does issue the ROS error? (check with rqt_console).

[ERROR] [1529588059.984608960]: Throw location unknown (consider using BOOST_THROW_EXCEPTION) Dynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> > std::exception::what: boost: mutex lock failed in pthread_mutex_lock: Invalid argument

This really looks suspicious, I have never seen this before. Which OS/architecture are you using?

Please try to spawn only the joint_state_controller. And which part of the code does issue the ROS error? (check with rqt_console).

Update: I must admit that I am running out of ideas.. I would suggest to upgrade ALL ros packages to the latest version to rule out ABI problems. Afterwards you clean and rebuild your workspace.

If the node keeps dying, please debug it with GDB and provide the backtrace of the crash.

[ERROR] [1529588059.984608960]: Throw location unknown (consider using BOOST_THROW_EXCEPTION) Dynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> > std::exception::what: boost: mutex lock failed in pthread_mutex_lock: Invalid argument

This really looks suspicious, I have never seen this before. Which OS/architecture are you using?

Please try to spawn only the joint_state_controller. And which part of the code does issue the ROS error? (check with rqt_console).

Update: I must admit that I am running out of ideas.. I would suggest to upgrade ALL ros packages to the latest version to rule out ABI problems. Afterwards you have to clean and rebuild your workspace.

If the node keeps dying, please debug it with GDB and provide the backtrace of the crash.

[ERROR] [1529588059.984608960]: Throw location unknown (consider using BOOST_THROW_EXCEPTION) Dynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> > std::exception::what: boost: mutex lock failed in pthread_mutex_lock: Invalid argument

This really looks suspicious, I have never seen this before. Which OS/architecture are you using?

Please try to spawn only the joint_state_controller. And which part of the code does issue the ROS error? (check with rqt_console).

Update: I must admit that I am running out of ideas.. I would suggest to upgrade ALL ros packages to the latest version to rule out ABI problems. Afterwards you have to clean and rebuild your workspace.

If the node keeps dying, please debug it with GDB and provide the backtrace of the crash.

Update 2: Your candump looks wrong. The driver does not receive any joint values. And even the status words gets sent at a rather strange timing. I think you should first solve the joint state issue before trying to move. Some things to check: * Does the sync rate fit (might be restricted by the controller)? Does it need a certain format (e.g. with overflow)? * Is the PDO mapping correct? Is it set to transmission type 1? (Sent data after every sync message) * For now you might want to turn off homing: Set homing method to 0 (if possible) or remove the homing mode bit from 0x6502 (in DefaultValue).