Launching PowerCube on multiple CAN busses
Hello I am working with a Schunk LWA3 (DOF 7) in ROS with the Schunk PowerCube package.
I have success launching the PowerCube and initializing the modules. The issue is that the arm has the modules broken out onto two difference CAN busses which are connected to different ports on a PCI card. The .yaml file that is taken in by the ROS node is:
powercube_chain parameters
can_module: PCAN
can_device: /dev/pcan0
can_baudrate: 1000
modul_ids: [1,2,3,4]
joint_names: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint]
max_accelerations: [0.4,0.4,0.4,0.4]
min_publish_duration: 0.01
horizon: 0.1
frequency: 100
ptp_vel: 0.4 # rad/sec
ptp_acc: 0.2 # rad/sec^2
max_error: 0.15 # rad
Again, this works fine and modules with Ids 1,2,3,4 are initialized just fine. However when I try to include a new can_device at /dev/pcan1 (to find modules 5,6,7) it will take whatever device is mentioned second and load the corresponding modules.
Ive tried:
devices: ["/dev/pcan0", "/dev/pcan1"]
This method still causes the first device listed to be used and only those modules found. I also attempted to edit my launch file to look for two different .yaml's but only the second is considered in this case.
Does anyone have experience with this or any suggestions?
Thank you !
Kyle
