Ask Your Question
1

Can't build ipa_canopen

asked 2016-02-29 18:14:09 -0500

gracecopplestone gravatar image

updated 2016-03-01 08:35:00 -0500

gvdhoorn gravatar image

I'm trying to set up communication with a pair of Schunk Light Weight Robot Arms purchased back in 2007. I have set up a catkin work space with:

  • cob_common
  • cob_extern
  • ipa_canopen
  • schunk_modular_robotics
  • schunk_robots

When I run catkin_make I get the following build error:

[ 98%] Built target schunk_powercube_chain
/home/parallels/catkin_ws/src/ipa_canopen/ipa_canopen_ros/src/ipa_canopen_ros.cpp:66:30: fatal error: cob_srvs/Trigger.h: No such file or directory
 #include "cob_srvs/Trigger.h"
                              ^
compilation terminated.
make[2]: *** [ipa_canopen/ipa_canopen_ros/CMakeFiles/ipa_canopen_ros.dir/src/ipa_canopen_ros.cpp.o] Error 1
make[1]: *** [ipa_canopen/ipa_canopen_ros/CMakeFiles/ipa_canopen_ros.dir/all] Error 2
make: *** [all] Error 2
Invoking "make install -j2 -l2" failed

"remove Trigger from cob_srvs" is included in one of the most recent changes of the cob_srvs change log. I'm new to ROS and it may be that I'm not following the correct procedure in terms of cloning and installing packages. I've assumed that once I've cloned them into my workspace and run catkin_make that I can begin to incorporate their functionality into my own package.

edit retag flag offensive close merge delete

Comments

Solved this by replacing my version of cob_srvs with the 0.6.2 release on Github, from before Trigger.h had been removed. Was then able to run catkin_make successfully.

gracecopplestone gravatar imagegracecopplestone ( 2016-02-29 20:57:25 -0500 )edit

@gracecopplestone: can you please report this on either ipa320/ipa_canopen or ros-industrial/ros_canopen? This is really a bug/error.

gvdhoorn gravatar imagegvdhoorn ( 2016-03-01 08:37:07 -0500 )edit

2 Answers

Sort by » oldest newest most voted
3

answered 2016-03-01 09:19:39 -0500

Mathias Lüdtke gravatar image

ipa_canopen ist not supported on indigo (we will remove the branches soon).

LWA3 is using schunk_powercube_chain, LWA4 was migrated to ros_canopen with example configs in schunk_robots. In both cases you don't need ipa_canopen.

edit flag offensive delete link more

Comments

We're struggling to figure out which model we actually have. From your experiences with Schunk would you know which model this is? http://i1285.photobucket.com/albums/a...

gracecopplestone gravatar imagegracecopplestone ( 2016-03-01 12:31:53 -0500 )edit

Unfortunately, I don't know this arm. It's none of the ones with example files in schunk_robots. Ask Schunk directly! But if you are going to use ROS with it, you will most likely also face the problem that no URDF exists (yet).

Felix Messmer gravatar imageFelix Messmer ( 2016-03-01 16:45:59 -0500 )edit

I don't know this model either, but it is definitely no CANopen arm. So schunk_powercube_chain might work, but it really depends on the model.

Mathias Lüdtke gravatar imageMathias Lüdtke ( 2016-03-01 17:04:49 -0500 )edit
1

I believe your arm is a LWA2 ( http://www.schunk.com/schunk_files/at... , page 3, looks famillar).

Mathias Lüdtke gravatar imageMathias Lüdtke ( 2016-03-01 17:27:27 -0500 )edit

Thanks for your answers. So if I understand correctly, if we are able to create our own URDF, there's a chance we could use it with schunk_powercube_chain?

gracecopplestone gravatar imagegracecopplestone ( 2016-03-01 17:34:56 -0500 )edit

Yes, there is a chance. You could try the powercube software ( http://www.schunk.com/schunk/schunk_w... ) on windows to verify the protocol.

Mathias Lüdtke gravatar imageMathias Lüdtke ( 2016-03-01 17:43:01 -0500 )edit

OK, to confirm, we have successfully established communication using the powercube software and hex code from the "Data exchange with Powercube" document via the PEAK CAN-USB and ESD PCI board. Now trying to figure whether there are pre-existing ROS packages to replicate comms and movement.

gracecopplestone gravatar imagegracecopplestone ( 2016-03-01 18:25:39 -0500 )edit
1

Then http://wiki.ros.org/schunk_powercube_... should be worth a try :) You don't need a URDF for it, just the config.

Mathias Lüdtke gravatar imageMathias Lüdtke ( 2016-03-02 03:38:41 -0500 )edit
1

answered 2016-03-01 11:11:53 -0500

gracecopplestone gravatar image

Solved this by replacing my version of cob_srvs with the 0.6.2 release on Github, from before Trigger.h had been removed. Was then able to run catkin_make successfully.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2016-02-29 18:14:09 -0500

Seen: 240 times

Last updated: Mar 01 '16