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I have worked with this particular arm and have faced the same issue. After a lot of digging, I realised that it is not a problem with ROS. You should use a CANalyser to connect to the Schunk MTS tool and check the CAN protocol. Sometimes, it erroneously resets to CAN whereas, it should be CANOpen. Change that back to CANOpen (you might need to change to admin to do that) and that will fix this issue.

I have worked with this particular arm and have faced the same issue. After a lot of digging, I realised that it is not a problem with ROS. You should use a CANalyser to connect to the Schunk MTS tool and check the CAN protocol. Sometimes, it erroneously resets to CAN whereas, it should be CANOpen. Change that back to CANOpen (you might need to change to admin to do that) and that will fix this issue. You can also consider setting the reference values and the joint limits using this tool.