ros_canopen driver node throws internal error right after initializing schunk_lwa4p arm

edit

Hi there,

I am using a schunk lwa and ros_canopen. Recently, I am having issues with the driver node: After initializing the arm, the driver node throws an internal error (but normally it does not crash), just a few seconds after initializing the arm or right after starting a movement. The usual error message looks similar to this:

[ INFO] [1435053398.073349599]: waitForService: Service [/powerball/robot/controller_manager/load_controller] is now available.
[ INFO] [1435053398.259478563]: joint_trajectory_controller loaded
[ INFO] [1435053398.429607440]: joint_group_position_controller loaded
[ INFO] [1435053398.509686775]: joint_group_velocity_controller loaded
[ INFO] [1435053398.519499166]: Switched Controllers. From no_stop_controller_defined to joint_trajectory_controller
error: 4
[ INFO] [1435053405.571193079]: Current state: 2 device error: system:0 internal_error: 4 (controller problems;)
[ INFO] [1435053405.571277714]: Current state: 1 device error: system:0 internal_error: 4 (controller problems;)
ID: 4
error: 64
[ INFO] [1435053405.571372578]: Current state: 1 device error: system:0 internal_error: 64 (bus off;)
ID: 64

Sometimes, it only is the controller problems error.

Besides this error, all works well, I can move the arm and have no further troubles, but this is very annoying. I am very thankful for any piece of advice.

Best regards, Marcel

edit: I read the state/ error state of the arm's modules:

state 0x8228: Fault
error register 0x21: Generic + Device profile specific error
manufacturer status 0x8810: SMP command code = CMD_ERROR, SMP error code = INFO_TIMEOUT
0x1003/1 predefined_error_field 0x00108250: CANopen error code = RPDO timeout, SMP error code = INFO_TIMEOUT
0x1003/2 predefined_error_field 0x00E16100: CANopen error code = Internal software û generic, SMP error code = ERROR_INTERNAL
error_detail 1501.000000

After above described error occured, the arm's modules are set to this state. Simple disabling and enabling cleares the error. When using another software (SCHUNK LWA Tool), I do not get any of these errors.

Second edit: Using the newest indigo dev version of ros_canopen (0.6.4, built from source), about 15 seconds after initialization

[ INFO] [1435070986.332901665]: Initializing XXX
[ INFO] [1435070986.333176067]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1435070986.333333000]: Current state: 2 device error: system:0 internal_error: 0 (OK)
[ INFO] [1435070988.006267810]: waitForService: Service [/powerball/robot/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1435070993.026895499]: waitForService: Service [/powerball/robot/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1435070998.044590351]: waitForService: Service [/powerball/robot/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1435070999.420373195]: waitForService: Service [/powerball/robot/controller_manager/load_controller] is now available.
[ INFO] [1435070999.524246324]: joint_trajectory_controller loaded
[ INFO] [1435070999.584108329]: joint_group_position_controller loaded
[ INFO] [1435070999.703987054]: joint_group_velocity_controller loaded
[ INFO] [1435070999.724046596]: Switched Controllers. From no_stop_controller_defined to joint_trajectory_controller

I get

[ERROR] [1435071040.303861963]: CAN not ready
[ERROR] [1435071050.303888404]: CAN not ready; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; CAN not ready

instead of the above messages. When sending a goal right after initialization, I get

error: 4
[ INFO] [1435071040.297516982]: Current state: 2 device error: system:0 internal_error: 4 (controller problems;)
[ INFO] [1435071040.297602617]: Current state: 1 device error: system:0 internal_error: 4 (controller ...