ros_canopen driver init failed with Kollmorgen RGM
I use the roscanopen driver for Kollmorgen RGM. After start the ros node canopenmotor_node, I run the initial driver
rosservice call /arm/driver/init
The output is
success: False
message: "Transition timeout; Could not enable motor"
And the output from canopenmotornode is:
[ INFO] [1537756949.778140475]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[New Thread 0x7fffc7547700 (LWP 9656)]
[ INFO] [1537756949.778630198]: Current state: 2 device error: system:0 internal_error: 0 (OK)
[New Thread 0x7fffc6d46700 (LWP 9657)]
[ INFO] [1537756952.890460416]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1537756956.795575493]: Current state: 2 device error: system:125 internal_error: 0 (OK)
[ INFO] [1537756956.795698509]: Current state: 0 device error: system:125 internal_error: 0 (OK)
[ INFO] [1537756956.795766744]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[Thread 0x7fffc6d46700 (LWP 9657) exited]
[ INFO] [1537756956.795854967]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[Thread 0x7fffc7547700 (LWP 9656) exited]
[Thread 0x7fffc7d48700 (LWP 9655) exited]
[Thread 0x7fffc7d48700 (LWP 9655) exited]
The output from candump
can0 000 [2] 82 01
can0 701 [1] 00
can0 601 [8] 2B 17 10 00 00 00 00 00
can0 581 [8] 60 17 10 00 00 00 00 00
can0 601 [8] 40 41 60 00 00 00 00 00
can0 581 [8] 4B 41 60 00 70 17 00 00
can0 601 [8] 40 61 60 00 00 00 00 00
can0 581 [8] 4F 61 60 00 06 17 00 00
can0 601 [8] 40 64 60 00 00 00 00 00
can0 581 [8] 43 64 60 00 28 B3 04 00
can0 601 [8] 40 6C 60 00 00 00 00 00
can0 581 [8] 43 6C 60 00 00 00 00 00
can0 601 [8] 40 77 60 00 00 00 00 00
can0 581 [8] 4B 77 60 00 00 00 00 00
can0 601 [8] 40 FD 60 00 00 00 00 00
can0 581 [8] 43 FD 60 00 08 00 00 00
can0 601 [8] 40 40 60 00 00 00 00 00
can0 581 [8] 4B 40 60 00 04 00 00 00
can0 601 [8] 40 60 60 00 00 00 00 00
can0 581 [8] 4F 60 60 00 06 00 00 00
can0 601 [8] 40 7A 60 00 00 00 00 00
can0 581 [8] 43 7A 60 00 00 00 08 00
can0 601 [8] 40 FF 60 00 00 00 00 00
can0 581 [8] 43 FF 60 00 00 00 00 00
can0 601 [8] 40 71 60 00 00 00 00 00
can0 581 [8] 4B 71 60 00 00 00 00 00
can0 000 [2] 01 01
can0 080 [0]
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can0 000 [2] 02 01
I use the ros_canopen kinetic version. The EDS file is here
The ros_canopen driver configuration file is
name: arm
defaults:
eds_pkg: rgm_driver
eds_file: "config/Kollmorgen_RGM.eds"
#the following scaling is due to 16bit value range limitation of velocity command in vl mode (2)
vel_to_device: "rint(rad2deg(vel)*250)"
nodes:
arm_1_joint:
id: 1
Bus parameters are:
bus:
device: can0
sync:
interval_ms: 10
overflow: 0
The launch file is:
<?xml version="1.0"?>
<launch>
<!--upload urdf for robot model-->
<include file="$(find rgm_description)/launch/rgm_upload.launch"/>
<!--start driver and register hardware interface to controller manager-->
<node ns="arm" name="driver" pkg="canopen_motor_node" type="canopen_motor_node" output="screen" clear_params="true" launch-prefix="gdb -ex run --args">
<rosparam command="load" file="$(find rgm_driver)/config/
can0.yaml" />
<rosparam command="load" file="$(find rgm_driver)/config/arm_driver.yaml" />
</node>
<!-- Load controller settings -->
<rosparam ns="arm" command="load" file="$(find rgm_driver)/config/joint_state_controller.yaml"/>
<rosparam ns="arm" command="load" file="$(find rgm_driver)/config/arm_controller.yaml"/>
<!-- spawn controller manager -->
<node ns="arm" name="ros_control_controller_spawner" pkg="controller_manager" type="controller_manager"
respawn="false"
output="screen" args="spawn joint_state_controller" />
<!-- load controllers using cob -->
<node ns="arm" name="cob_control_mode_adapter_node" pkg="cob_control_mode_adapter" type="cob_control_mode_adapter_node" cwd="node" respawn="false" output="screen"/>
</launch>
Asked by Jack Liu on 2018-09-24 09:35:16 UTC
Comments
There are much other information, please see (more)
Asked by Jack Liu on 2018-09-24 23:31:52 UTC
Hey Jack, Did you end up figuring this out?
Asked by JadTawil on 2020-01-14 11:42:17 UTC