Problems with launching the Schunk LWA 4P
Hi together,
i'm using Ubuntu 14.04 with 3.19.0-80-generic kernel, ROS-Indigo and the PEAK USB-CAN interface. I'm trying to run the "robot.launch" file of this package https://github.com/ipa320/schunk_robots/tree/indigo_dev for the Schunk LWA 4P installed on the SCOUT active, but it doesn't finish and i get this log-messages. I'm directly connected with the Schunk LWA 4P:
master@ROS-PC:~/catkin_ws_test$ roslaunch schunk_lwa4p robot.launch
... logging to /home/master/.ros/log/37b28b10-61b5-11e9-8720-a4badbfee7eb/roslaunch-ROS-PC-21821.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://ROS-PC:42063/
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_controll...
* /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_controll...
* /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/driver/bus/device: can0
* /arm/driver/defaults/dcf_overlay/604Csub1: 1
* /arm/driver/defaults/dcf_overlay/604Csub2: 24000
* /arm/driver/defaults/eds_file: config/Schunk_0_6...
* /arm/driver/defaults/eds_pkg: schunk_lwa4p
* /arm/driver/defaults/vel_to_device: rint(rad2deg(vel)...
* /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/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_names: ['arm_1_joint', '...
* /arm/joint_state_controller/publish_rate: 50
* /arm/joint_state_controller/type: joint_state_contr...
* /arm/joint_trajectory_controller/action_monitor_rate: 10
* /arm/joint_trajectory_controller/constraints/arm_1_joint/goal: 0.1
* /arm/joint_trajectory_controller/constraints/arm_1_joint/trajectory: 0.1
* /arm/joint_trajectory_controller/constraints/arm_2_joint/goal: 0.1
* /arm/joint_trajectory_controller/constraints/arm_2_joint/trajectory: 0.1
* /arm/joint_trajectory_controller/constraints/arm_3_joint/goal: 0.1
* /arm/joint_trajectory_controller/constraints/arm_3_joint/trajectory: 0.1
* /arm/joint_trajectory_controller/constraints/arm_4_joint/goal: 0.1
* /arm/joint_trajectory_controller/constraints/arm_4_joint/trajectory: 0.1
* /arm/joint_trajectory_controller/constraints/arm_5_joint/goal: 0.1
* /arm/joint_trajectory_controller/constraints/arm_5_joint/trajectory: 0.1
* /arm/joint_trajectory_controller/constraints/arm_6_joint/goal: 0.1
* /arm/joint_trajectory_controller/constraints/arm_6_joint/trajectory: 0.1
* /arm/joint_trajectory_controller/constraints/goal_time: 0.6
* /arm/joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.05
* /arm/joint_trajectory_controller/joints: ['arm_1_joint', '...
* /arm/joint_trajectory_controller/required_drive_mode: 7
* /arm/joint_trajectory_controller/state_publish_rate: 25
* /arm/joint_trajectory_controller/stop_trajectory_duration: 0.5
* /arm/joint_trajectory_controller/type: position_controll...
* /arm/max_command_silence: 0.5
* /arm/robot_state_publisher/publish_frequency: 50.0
* /arm/robot_state_publisher/tf_prefix:
* /robot_description: <?xml version="1....
* /rosdistro: indigo
* /rosversion: 1.11.21
* /script_server/arm/action_name: /arm/joint_trajec...
* /script_server/arm/default_vel: 0.3
* /script_server/arm/folded: [[0.0, -0.7462504...
* /script_server/arm/home: [[0, 0, 0, 0, 0, 0]]
* /script_server/arm/joint_names: ['arm_1_joint', '...
* /script_server/arm/service_ns: /arm/driver
* /script_server/arm/wave: ['waveleft', 'wav...
* /script_server/arm/waveleft: [[0.0, 0.32103388...
* /script_server/arm/waveright: [[0.0, 0.47410626...
NODES
/arm/
arm_controller_spawner (controller_manager/controller_manager)
cob_control_mode_adapter_node (cob_control_mode_adapter/cob_control_mode_adapter_node)
driver (canopen_motor_node/canopen_motor_node)
joint_states_relay (topic_tools/relay)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
auto-starting new master
process[master]: started with pid [21844]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 37b28b10-61b5-11e9-8720-a4badbfee7eb
process[rosout-1]: started with pid [21860]
started core service [/rosout]
process[arm/robot_state_publisher-2]: started with pid [21878]
process[arm/driver-3]: started with pid [21879]
process[arm/arm_controller_spawner-4]: started with pid [21880]
process[arm/cob_control_mode_adapter_node-5]: started with pid [21881]
process[arm/joint_states_relay-6]: started with pid [21882]
[ INFO] [1555576657.621832845]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1555576657.918599459]: Using fixed control period: 0.010000000
[ INFO] [1555576662.636613432]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1555576667.642014437]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1555576672.650239447]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1555576677.658143950]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1555576682.670909694]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1555576687.678895633]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1555576692.689613579]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1555576697.699594570]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1555576702.711480788]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
^C[arm/joint_states_relay-6] killing on exit
[arm/cob_control_mode_adapter_node-5] killing on exit
[arm/arm_controller_spawner-4] killing on exit
[arm/driver-3] killing on exit
[arm/robot_state_publisher-2] killing on exit
Traceback (most recent call last):
File "/home/master/catkin_ws_test/src/ros_control-indigo-devel/controller_manager/scripts/controller_manager", line 63, in <module>
controller_manager_interface.load_controller(c)
File "/home/master/catkin_ws_test/src/ros_control-indigo-devel/controller_manager/src/controller_manager/controller_manager_interface.py", line 61, in load_controller
rospy.wait_for_service('controller_manager/load_controller')
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 149, in wait_for_service
time.sleep(0.3)
KeyboardInterrupt
[arm/cob_control_mode_adapter_node-5] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
The driver for the PEAK-System CAN interface is installed and works, but i'm not sure if have to use the "netdev" or "chardev" driver, because in the groovy branch the config for canopen is with device pcan32 ord 33 (chardev) and in the indigo branch the config is with device can0 (netdev).
That's the output while booting the robot. So i think thats the standard IDs for the joints?:
master@ROS-PC:~$ candump can0
can0 703 [1] 00
can0 708 [1] 00
can0 704 [1] 00
can0 706 [1] 00
can0 705 [1] 00
can0 707 [1] 00
can0 70C [1] 00
can0 083 [8] 22 32 25 74 00 00 C8 41
can0 088 [8] 22 32 25 74 00 00 00 00
can0 084 [8] 22 32 25 74 00 00 8C 42
can0 086 [8] 22 32 25 74 00 00 00 00
can0 085 [8] 22 32 25 74 00 00 34 42
can0 087 [8] 22 32 25 74 00 00 00 00
can0 08C [8] 22 32 25 74 00 00 00 00
master@ROS-PC:~$ cat /proc/pcan
*------------- PEAK-System CAN interfaces (www.peak-system.com) -------------
*------------- Release_20150729_n (7.15.2) Apr 15 2019 17:26:30 --------------
*---------- [mod] [isa] [pci] [pec] [dng] [par] [usb] [pcc] [net] -----------
*--------------------- 1 interfaces @ major 247 found -----------------------
*n -type- -ndev- --base-- irq --btr- --read-- --write- --irqs-- -errors- status
33 usb can0 ffffffff 255 0x001c 0000000e 000000a4 00027cea 00000000 0x0000
Is there anything else I need to install, update, changing (config)files, etc.? The packages schunkrobotic, schunkmodularrobotic and roscanopen are installed
Asked by Tomasche on 2019-04-18 08:19:17 UTC
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