ros_canopen with lwa4p initialization fails

edit

Hi,

I am trying to initialize my lwa4p arm as described on the ros_canopen wiki page, but it seems that I am missing something.

When calling

rosservice call /arm/driver/init

I get

success: 
  data: False
error_message: 
  data: CAN init failed

Also, I constantly receive

[ INFO] [1424269803.902373134]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...

with arm/joint_state_controller_spawner restarting after some time. Is this expected behaviour? What am I missing?

Note: I also failed to run

sudo ip link set can0 up type can bitrate 500000

as it returns

Cannot find device "can0"

But I have peak-linux-driver-7.12 installed on my machine, configured as chardev device and I am able to access my arm with another program, so I do not know if this really is a problem. (Same result when using pcanusb0 instead of can0, which is my actual pcan device name.)

Thank you for your support!

Edit: It seems that I had to rebuild my driver as netdev and configure it correctly.

sudo ip link set can0 up type can bitrate 500000

did not work for me, instead I used

sudo ip link set up can0
echo "i 0x001C e" > /dev/pcan32

to set baudrate to 500k. When calling the init service, the arm now initializes correctly.