Downloading PDO communication object failed! with schunk_canopen_driver (CAN_ERR_OK)

asked 2019-05-20 10:29:06 -0600

Tomasche gravatar image

Hi,

i'm using Ubuntu 14.04 with 4.4.0-148-generic kernel, ROS-Indigo and the PEAK USB-CAN interface. I followed the instructions at http://wiki.ros.org/schunk_canopen_dr... to build from source. So automatic the peak-driver 8.3.0 has been installed. I try to run the Schunk LWA4P or. the Scout active which is equipped with the Schunk, but I am directly connected with the LWA4P.

So when I run the launchfle $ roslaunch schunk_canopen_driver standalone_profile_position.launch I get this output:

$ roslaunch schunk_canopen_driver standalone_profile_position.launch
... logging to /home/scout/.ros/log/e2e53aba-7af0-11e9-8d98-f44d306ff777/roslaunch-scout-nuc-7912.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://scout-nuc:39709/

SUMMARY
========

PARAMETERS
 * /joint_limits/arm_1_joint/has_acceleration_limits: True
 * /joint_limits/arm_1_joint/has_velocity_limits: True
 * /joint_limits/arm_1_joint/max_acceleration: 6.0
 * /joint_limits/arm_1_joint/max_velocity: 1.25
 * /joint_limits/arm_2_joint/has_acceleration_limits: True
 * /joint_limits/arm_2_joint/has_velocity_limits: True
 * /joint_limits/arm_2_joint/max_acceleration: 6.0
 * /joint_limits/arm_2_joint/max_velocity: 1.25
 * /joint_limits/arm_3_joint/has_acceleration_limits: True
 * /joint_limits/arm_3_joint/has_velocity_limits: True
 * /joint_limits/arm_3_joint/max_acceleration: 6.0
 * /joint_limits/arm_3_joint/max_velocity: 1.25
 * /joint_limits/arm_4_joint/has_acceleration_limits: True
 * /joint_limits/arm_4_joint/has_velocity_limits: True
 * /joint_limits/arm_4_joint/max_acceleration: 6.0
 * /joint_limits/arm_4_joint/max_velocity: 1.25
 * /joint_limits/arm_5_joint/has_acceleration_limits: True
 * /joint_limits/arm_5_joint/has_velocity_limits: True
 * /joint_limits/arm_5_joint/max_acceleration: 6.0
 * /joint_limits/arm_5_joint/max_velocity: 1.25
 * /joint_limits/arm_6_joint/has_acceleration_limits: True
 * /joint_limits/arm_6_joint/has_velocity_limits: True
 * /joint_limits/arm_6_joint/max_acceleration: 6.0
 * /joint_limits/arm_6_joint/max_velocity: 1.25
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /schunk_canopen_node/autostart: True
 * /schunk_canopen_node/can_device_name: auto
 * /schunk_canopen_node/chain_arm: [3, 4, 5, 6, 7, 8]
 * /schunk_canopen_node/chain_names: ['arm']
 * /schunk_canopen_node/frequency: 30
 * /schunk_canopen_node/node_mapping_3: arm_1_joint
 * /schunk_canopen_node/node_mapping_4: arm_2_joint
 * /schunk_canopen_node/node_mapping_5: arm_3_joint
 * /schunk_canopen_node/node_mapping_6: arm_4_joint
 * /schunk_canopen_node/node_mapping_7: arm_5_joint
 * /schunk_canopen_node/node_mapping_8: arm_6_joint
 * /schunk_canopen_node/ppm_profile_acceleration: 0.3
 * /schunk_canopen_node/ppm_profile_velocity: 0.3
 * /schunk_canopen_node/ppm_use_relative_targets: False
 * /schunk_canopen_node/traj_controller_name: pos_based_pos_tra...
 * /schunk_canopen_node/use_ros_control: False

NODES
  /
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    schunk_canopen_node (schunk_canopen_driver/schunk_canopen_driver_node)

auto-starting new master
process[master]: started with pid [7934]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e2e53aba-7af0-11e9-8d98-f44d306ff777
process[rosout-1]: started with pid [7948]
started core service [/rosout]
process[schunk_canopen_node-2]: started with pid [7965]
process[robot_state_publisher-3]: started with pid [7966]
<2019-05-20 13:17:43.918> CanOpen(Info)::init: Found pcanusb32
<2019-05-20 13:17:43.918> CanOpen(Info)::init: CAN Device was set to auto. 
flags:2050
<2019-05-20 13:17:43.918> CanOpen(Info)::init: Trying CAN device: /dev/pcanusb32... 
Can Init successful!
<2019-05-20 13:17:45.093> CAN(Info) tCanDevice(PEAK-CAN)::tCanDeviceT: Opened device /dev/pcanusb32 -> 145936936
[ INFO] [1558351065.093952739]: Can device identifier: auto
[ INFO] [1558351065.094064359]: Found 1 chains
[ INFO] [1558351065.097801346]: Found chain with name arm of type PowerBall containing 6 nodes.
<2019-05-20 13:17:45.097> CanOpen(Info)::addNode: Adding new DS402Node with id 3
<2019-05-20 13:17:45.098> CanOpen(Info)::addNode: Adding new DS402Node with id 4
<2019-05-20 13:17:45.099> CanOpen(Info)::addNode: Adding new DS402Node with id 5
<2019-05-20 13:17:45.099> CanOpen(Info)::addNode: Adding new DS402Node with id 6
<2019-05-20 13:17:45.100> CanOpen(Info)::addNode: Adding new DS402Node with id 7
<2019-05-20 13 ...
(more)
edit retag flag offensive close merge delete