schunk_canopen_driver crashes at startup

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Hi,

i am using the schunk_canopen_driver with the schunk_lwa4p robot. I run the standalone_interpolated_position.launch file. Everything works (after some time), BUT I have observed two things, that seem odd to me:

1. When starting the robot, the node throws:

   <2016-12-09 17:54:19.291> CanOpen(Info) EMCY::update: Error reset EMCY received. Node 4 is now in state error free. terminate called after throwing an instance of 'icl_hardware::canopen_schunk::DeviceException' what(): ��������t perform fault reset for node 4 after multiple tries. Is the device hard-disabled? Otherwise: Have you tried turning it off and on again? Check your configuration and make sure the device is properly connected. [schunk_canopen_node-1] process has died [pid 14265, exit code -6, cmd /home/marcel/ros/test_ws/devel_isolated/schunk_canopen_driver/lib/schunk_canopen_driver/schunk_canopen_driver_node __name:=schunk_canopen_node __log:=/home/marcel/.ros/log/07d1c7d2-be13-11e6-ad72-001e8c26fa47/schunk_canopen_node-1.log]. log file: /home/marcel/.ros/log/07d1c7d2-be13-11e6-ad72-001e8c26fa47/schunk_canopen_node-1*.log

This is thrown once per node, i.e. in the first run, it is thrown for node 3, second node 4, ...., which means, i have to rerun the script once per node. This occurs on every startup, i.e. when start the robot (not the node).

1. After the first thing occured and the node now may start flawlessly, an error occurs irregularly, but only at startup, i.e. when no error occurs, the node runs perfectly:

   [INFO] [1481301065.242754]: Loading controller: pos_based_pos_traj_controller_arm Traceback (most recent call last): File "/opt/ros/kinetic/lib/controller_manager/spawner", line 212, in <module> if __name__ == '__main__': main() File "/opt/ros/kinetic/lib/controller_manager/spawner", line 190, in main resp = load_controller(name) File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__ return self.call(args, *kwds) File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 505, in call raise ServiceException("unable to connect to service: %s"%e) rospy.service.ServiceException: unable to connect to service: [Errno 104] Connection reset by peer [INFO] [1481301065.448173]: Shutting down spawner. Stopping and unloading controllers... [schunk_canopen_node-1] process has died [pid 24481, exit code -11, ...]

This seems like it has trouble loading the controller. After killing and rerunning the launch file several times (this occurs irregularly), sometimes it just works.

After I have gone through the first part and when the second part finished (This can be fast or take some time..), I can finally use the node normally.

Does anyone work with the schunk_canopen_driver and has the same issues (or not). It bugs me, this behaviour seems not to be normal.

Thanks, Marcel

Full log of 2:

process[schunk_canopen_node-1]: started with pid [24481]
process[ros_control_controller_spawner-2]: started with pid [24509]
<2016-12-09 17:31:03.093> CanOpen(Info)::init: CAN Device was set to auto. 
<2016-12-09 17:31:03.093> CanOpen(Info)::init: Trying CAN device: /dev/pcanusb0... flags:2050
process[robot_state_publisher-3]: started with pid [24510]
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
[INFO] [1481301063.727872]: Controller Spawner: Waiting for service controller_manager/load_controller
Can Init successful!
<2016-12-09 17:31:04.280> CAN ...