how to use kvaser for schunk lwa4p

asked 2015-03-18 18:58:21 -0500

velardeje1
1 ●1 ●1 ●1

updated 2015-03-19 09:47:00 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

hi fiends. i'm new on ros and i need to understand how to interact with the lwa4p. somebody can help me?? but i have the "KVASER LEAF ligth 2

i tryed the following: i installed the linuxcan diver for kvaser manually and i changed the name

can0 for leaf0 in the can0.yaml file

then i tryed to run robot.launch and doesnt work :

velarje1@cemie-p02:~/schunk_ws$ rosservice call /arm/driver/init success: data: False error_message: data: CAN init failed

my question is ... do i need to change anything else? or i need to use the peak only for this application? thank you very much

edit retag flag offensive close merge delete

add a comment

0

answered 2015-06-22 09:18:20 -0500

Mathias Lüdtke

1596 ●2 ●26 ●26

It might be a little bit too late, but you can find more information on the CAN implementation here: http://wiki.ros.org/socketcan_interface

The current implementation just wraps the SocketCAN net interface (not to be confused with the actual device, maybe we should rename the parameter name). I have tested PEAK and ESD only and both came up as can0, can1 etc.

However, KVASER should be supported since kernel 3.8: http://www.kvaser.com/faq/linux-can-u... If the can-utils work, then ros_canopen should work as well.