"Node has emergency error" : Issue on Lwa4D

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Hello,

I try to set up a Schunk Lwa4d with PG70 gripper, using:

H/W:

• Schunk Lwa4d
• Schunk Pg70 gripper
• Peak CAN-USB interface device

S/W:

• Ubuntu 14.04 (Kernel 4.4.0-31-generic)
• ROS Indigo
• schunk_modular_robotics , schunk_robots packages
• ros_canopen

I manage to initialize the arm driver successfully. After launching the dashboard, I try to execute one of the available actions (home, wave etc), but I get a jitter-like noise from my motors, followed by a "Node has emergency error" error.

schunk@schunk-CS-B:~$ roslaunch schunk_lwa4d robot.launch 
... logging to /home/schunk/.ros/log/987657f0-162c-11e7-bac4-40167ea4b96c/roslaunch-schunk-CS-B-30697.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://schunk-CS-B:43046/

SUMMARY
========

CLEAR PARAMETERS
 * /arm/driver/


PARAMETERS

 * /arm/arm_1_joint_position_controller/joint: arm_1_joint
 * /arm/arm_1_joint_position_controller/required_drive_mode: 1
 * /arm/arm_1_joint_position_controller/type: position_control...
 * /arm/arm_1_joint_velocity_controller/joint: arm_1_joint
  * /arm/arm_1_joint_velocity_controller/required_drive_mode: 2
  * /arm/arm_1_joint_velocity_controller/type: velocity_control...
  * /arm/arm_2_joint_position_controller/joint: arm_2_joint
  * /arm/arm_2_joint_position_controller/required_drive_mode: 1
  * /arm/arm_2_joint_position_controller/type: position_controll...
  * /arm/arm_2_joint_velocity_controller/joint: arm_2_joint
  * /arm/arm_2_joint_velocity_controller/required_drive_mode: 2
  * /arm/arm_2_joint_velocity_controller/type: velocity_controll...
  * /arm/arm_3_joint_position_controller/joint: arm_3_joint
  * /arm/arm_3_joint_position_controller/required_drive_mode: 1
  * /arm/arm_3_joint_position_controller/type: position_controll...
  * /arm/arm_3_joint_velocity_controller/joint: arm_3_joint
  * /arm/arm_3_joint_velocity_controller/required_drive_mode: 2
  * /arm/arm_3_joint_velocity_controller/type: velocity_controll...
  * /arm/arm_4_joint_position_controller/joint: arm_4_joint
  * /arm/arm_4_joint_position_controller/required_drive_mode: 1
  * /arm/arm_4_joint_position_controller/type: position_controll...
  * /arm/arm_4_joint_velocity_controller/joint: arm_4_joint
  * /arm/arm_4_joint_velocity_controller/required_drive_mode: 2
  * /arm/arm_4_joint_velocity_controller/type: velocity_controll...
  * /arm/arm_5_joint_position_controller/joint: arm_5_joint
  * /arm/arm_5_joint_position_controller/required_drive_mode: 1
  * /arm/arm_5_joint_position_controller/type: position_controll...
  * /arm/arm_5_joint_velocity_controller/joint: arm_5_joint
  * /arm/arm_5_joint_velocity_controller/required_drive_mode: 2
  * /arm/arm_5_joint_velocity_controller/type: velocity_controll...
  * /arm/arm_6_joint_position_controller/joint: arm_6_joint
  * /arm/arm_6_joint_position_controller/required_drive_mode: 1
  * /arm/arm_6_joint_position_controller/type: position_controll...
  * /arm/arm_6_joint_velocity_controller/joint: arm_6_joint
  * /arm/arm_6_joint_velocity_controller/required_drive_mode: 2
  * /arm/arm_6_joint_velocity_controller/type: velocity_controll...
  * /arm/arm_7_joint_position_controller/joint: arm_7_joint
  * /arm/arm_7_joint_position_controller/required_drive_mode: 1
  * /arm/arm_7_joint_position_controller/type: position_controll...
  * /arm/arm_7_joint_velocity_controller/joint: arm_7_joint
  * /arm/arm_7_joint_velocity_controller/required_drive_mode: 2
  * /arm/arm_7_joint_velocity_controller/type: velocity_controll...
  * /arm/driver/bus/device: can0
  * /arm/driver/defaults/eds_file: config/Schunk_0_6...
  * /arm/driver/defaults/eds_pkg: schunk_lwa4d
  * /arm/driver/defaults/vel_to_device: rad2deg(vel)*250
  * /arm/driver/name: arm
  * /arm/driver/nodes/arm_1_joint/id: 3
  * /arm/driver/nodes/arm_2_joint/id: 4
  * /arm/driver/nodes/arm_3_joint/id: 5
  * /arm/driver/nodes/arm_4_joint/id: 6
  * /arm/driver/nodes/arm_5_joint/id: 7
  * /arm/driver/nodes/arm_6_joint/id: 8
  * /arm/driver/nodes/arm_7_joint/id: 9
  * /arm/driver/sync/interval_ms: 10
  * /arm/driver/sync/overflow: 0
  * /arm/joint_group_interpol_position_controller/joints: ['arm_1_joint', '...
  * /arm/joint_group_interpol_position_controller/required_drive_mode: 7
  * /arm/joint_group_interpol_position_controller/type: position_controll...
  * /arm/joint_group_position_controller/joints: ['arm_1_joint', '...
  * /arm/joint_group_position_controller/required_drive_mode: 1
  * /arm/joint_group_position_controller/type: position_controll...
  * /arm/joint_group_velocity_controller/joints: ['arm_1_joint', '...
  * /arm/joint_group_velocity_controller/required_drive_mode: 2
  * /arm/joint_group_velocity_controller/type: velocity_controll...
  * /arm/joint_limits/arm_1_joint/has_acceleration_limits: False
  * /arm/joint_limits/arm_1_joint/has_effort_limits: False
  * /arm/joint_limits/arm_1_joint/has_jerk_limits: False
  * /arm/joint_limits/arm_1_joint/has_velocity_limits: False
  * /arm/joint_limits/arm_1_joint/max_acceleration: 0.4
  * /arm/joint_limits/arm_1_joint/max_effort: 5.0
  * /arm/joint_limits/arm_1_joint/max_jerk: 100.0
  * /arm/joint_limits/arm_1_joint/max_velocity: 0.4
  * /arm/joint_limits/arm_2_joint/has_acceleration_limits: False
  * /arm/joint_limits/arm_2_joint/has_effort_limits: False
  * /arm/joint_limits/arm_2_joint/has_jerk_limits: False
  * /arm/joint_limits/arm_2_joint/has_velocity_limits: False
  * /arm/joint_limits/arm_2_joint/max_acceleration: 0.4
  * /arm/joint_limits/arm_2_joint/max_effort: 5.0
  * /arm/joint_limits/arm_2_joint/max_jerk: 100.0
  * /arm/joint_limits/arm_2_joint/max_velocity: 0 ...