[SOLVED] ros_canopen ERROR after spawning controllers

edit

Hello!

The solution is given in the answer section.

The original question with different edit parts start here:

-------------------------------------------------- ORIGINAL QUESTION --------------------------------------------------

i am trying to communicate with a single motor through CANopen. I had posted the initial problems earlier in the following question: #q294570.

The original problem was that i was unable to spawn the controllers after the canopen driver was initialized. This problem was solved by correcting the EDS file (object [6502] datatype 0x0007).

However there is a new problem.

After successful spawning (i.e., after i call /driver/init) new errors occur. This is the error message:

[ INFO] [1529588044.212953924]: Initializing XXX
[ INFO] [1529588044.213546917]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1529588044.214010384]: Current state: 2 device error: system:0 internal_error: 0 (OK)
EMCY: 81#0000000000000000
[ WARN] [1529588059.484589143]: RPDO timeout
Loaded joint_state_controller
Loaded joint_1_position_controller
Started ['joint_state_controller'] successfully
Started ['joint_1_position_controller'] successfully
[ERROR] [1529588059.984608960]: Throw location unknown (consider using BOOST_THROW_EXCEPTION)
Dynamic exception type: 
boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >
std::exception::what: boost: mutex lock failed in pthread_mutex_lock: Invalid argument

[controller_spawner-6] process has finished cleanly
log file: /home/akosodry/.ros/log/bc213964-7557-11e8-ac9e-78321b043645/controller_spawner-6*.log
[ERROR] [1529588069.994551018]: Throw location unknown (consider using BOOST_THROW_EXCEPTION)
Dynamic exception type: 
boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >
std::exception::what: boost: mutex lock failed in pthread_mutex_lock: Invalid argument

[ERROR] [1529588079.994594260]: Throw location unknown (consider using BOOST_THROW_EXCEPTION)
Dynamic exception type: 
boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >
std::exception::what: boost: mutex lock failed in pthread_mutex_lock: Invalid argument

The aforementioned error message repeats.

------------------------------------------------------------ EDIT1 ------------------------------------------------------------

As Mathias Lüdtke recommended i edited the launch file, and spawned only the joint_state_controller. Then, there is NO error message.

Then i tried to load the controller, which returned "OK":

rosservice call /controller_manager/load_controller "name: 'joint_1_position_controller'"

If i do rosservice call /controller_manager/list_controllers:

controller: 
  - 
    name: "joint_state_controller"
    state: "running"
    type: "joint_state_controller/JointStateController"
    claimed_resources: 
      - 
        hardware_interface: "hardware_interface::JointStateInterface"
        resources: []
  - 
    name: "joint_1_position_controller"
    state: "stopped"
    type: "position_controllers/JointPositionController"
    claimed_resources: 
      - 
        hardware_interface: "hardware_interface::PositionJointInterface"
        resources: [joint_1]

If i do rostopic list, i see the following topics:

/clicked_point
/diagnostics
/initialpose
/joint_1_position_controller/command
/joint_command
/joint_states
/move_base_simple/goal
/rosout
/rosout_agg
/tf
/tf_static

I tried to publish something to the /joint_1_position_controller/command topic, like:

rostopic pub /joint_1_position_contller/command std_msgs/Float64 "data: 1.0"

But nothing happens (i mean i an ideal world the motor would rotate :) ...also i tried different bigger, smaller numbers).

Then i tried to diffent ways to start the controller: FIRST WAY: If i do the following:

rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_1_position_controller'
stop_controllers:
- ''
strictness: 2" 
ok: False

i got the following error message:

[ERROR] [1529592920.142827840]: Could not stop controller with name  because no controller with this name 
exists
[ERROR] [1529592942.782467753]: Could not stop controller with name  because no controller with this name 
exists

SECOND WAY:

rosservice call /controller_manager/switch_controller "{start_controllers: ['joint_1_position_controller'], stop_controllers: [], strictness: 2}"
ok: True

and i got the following:

canopen_motor_node: /usr/include/boost/thread/pthread/mutex.hpp:127: void boost::mutex::unlock(): Assertion `res == 0' failed.
[canopen_driver-5] process has died [pid 27211, exit ...