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Schunk LWA4P initialization problem with ros_canopen

asked 2019-06-13 05:00:58 -0600

verena gravatar image

updated 2019-06-24 09:48:15 -0600


I try to launch a LW4P with ros_canopen. I use ROS kinetic and a PCAN-USB Pro adapter. I already tried out the suggestions on similar problems on ROS answers and on GitHub but unfortunately my issue remains.

First I setup my CAN interface

$ ~/catkin-pem-robot-v2# sudo ip link set can0 down
$ ~/catkin-pem-robot-v2# sudo ip link set can0 up type can bitrate 500000
$ ~/catkin-pem-robot-v2# sudo ip link set can0 up txqueuelen 20

Then I launch the robot

$ ~/catkin-pem-robot-v2$ roslaunch pem_robot pem_robot_v3.launch 
WARNING: Could not change permissions for folder [/home/verena/.ros/log/c8077c0a-8dbd-11e9-b028-ac7ba18b123a], make sure that the parent folder has correct permissions.
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see is deprecated; please use xacro instead
started roslaunch server http://verena-CELSIUS-H730:33227/


 * /lh_arm/driver/

 * /joint_state_mixer/robot_description: <?xml version="1....
 * /lh_arm/driver/bus/device: can0
 * /lh_arm/driver/defaults/dcf_overlay/604Csub1: 1
 * /lh_arm/driver/defaults/dcf_overlay/604Csub2: 24000
 * /lh_arm/driver/defaults/dcf_overlay/6060: 1
 * /lh_arm/driver/defaults/eds_file: config/Schunk_0_6...
 * /lh_arm/driver/defaults/eds_pkg: pem_arm_lh
 * /lh_arm/driver/defaults/vel_to_device: rint(rad2deg(vel)...
 * /lh_arm/driver/name: arm
 * /lh_arm/driver/nodes/lh_arm_0_joint/id: 10
 * /lh_arm/driver/nodes/lh_arm_1_joint/id: 5
 * /lh_arm/driver/nodes/lh_arm_2_joint/id: 6
 * /lh_arm/driver/nodes/lh_arm_3_joint/id: 3
 * /lh_arm/driver/nodes/lh_arm_4_joint/id: 4
 * /lh_arm/driver/nodes/lh_arm_5_joint/id: 7
 * /lh_arm/driver/nodes/lh_arm_6_joint/id: 8
 * /lh_arm/driver/sync/interval_ms: 50
 * /lh_arm/driver/sync/overflow: 0
 * /lh_arm/hardware_control_loop/loop_hz: 125
 * /lh_arm/hardware_interface/joints: ['lh_arm_0_joint'...
 * /lh_arm/joint_state_controller/publish_rate: 50
 * /lh_arm/joint_state_controller/type: joint_state_contr...
 * /lh_arm/pos_based_pos_traj_controller_arm_lh/joints: ['lh_arm_0_joint'...
 * /lh_arm/pos_based_pos_traj_controller_arm_lh/publish_rate: 50
 * /lh_arm/pos_based_pos_traj_controller_arm_lh/required_drive_mode: 7
 * /lh_arm/pos_based_pos_traj_controller_arm_lh/type: position_controll...
 * /lh_arm/robot_description: <?xml version="1....
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

    driver (canopen_motor_node/canopen_motor_node)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_initialization (rosservice/rosservice)
    ros_control_controller_spawner (controller_manager/spawner)
    joint_state_mixer (pem_robot/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [6027]

setting /run_id to c8077c0a-8dbd-11e9-b028-ac7ba18b123a
process[rosout-1]: started with pid [6052]
started core service [/rosout]
process[lh_arm/driver-2]: started with pid [6071]
process[lh_arm/ros_control_controller_spawner-3]: started with pid [6072]
process[lh_arm/joint_state_publisher-4]: started with pid [6073]
process[lh_arm/robot_initialization-5]: started with pid [6074]
process[joint_state_mixer-6]: started with pid [6083]
process[robot_state_publisher-7]: started with pid [6093]
[ INFO] [1560418188.416560376]: Using fixed control period: 0.050000000
[INFO] [1560418188.461155]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1560418188.509712642]: Initializing XXX
[ INFO] [1560418188.510056097]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1560418188.510289199]: Current state: 2 device error: system:0 internal_error: 0 (OK)
EMCY: 8A#2232257400000000
EMCY: 85#223225740000803F
EMCY: 86#2232257400001C42
[ INFO] [1560418199.018367789]: Current state: 2 device error: system:125 internal_error: 0 (OK)
[ INFO] [1560418199.018453747]: Current state: 0 device error: system:125 internal_error: 0 (OK)
[ INFO ...
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Hello , did you try to start just the driver "canopen_motor_node" and manualy spawn your controller ? with rqt if it's easyer.

Is your candump complete ? I don't see node many node state in you candump but, as log indicates a controller interface not found probleme.

I think it migh help if you send your configuration file *controller.yaml and canopen_chaine_node.yaml etc.

adrienH gravatar image adrienH  ( 2019-06-20 01:52:40 -0600 )edit

2 Answers

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answered 2019-06-21 10:15:10 -0600

Mathias Lüdtke gravatar image
EMCY: 8A#2232257400000000
EMCY: 85#223225740000803F
EMCY: 86#2232257400001C42

If I am not mistaken, this is an under-voltage emergency alert (0x3222). Please check your power supply.

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thank you! Yes apparently power supply was one issue. The EMCY message have disappeared now. However, the other error messages are remaining and I am still not able to launch the LWA4P. I encountered some strange things: It seems that some of my CAN modules are not recognized at all. At the startup candump can0 only gives me the following can0 705 [1] 00 can0 706 [1] 00 can0 70A [1] 00 If I only launch the recognized nodes without the non-recognized nodes, I can move the recognized nodes as expected.

But what could be the reason for not recognizing some of my modules?

Thank you in advance!

verena gravatar image verena  ( 2019-06-24 09:37:32 -0600 )edit

answered 2019-06-25 07:09:27 -0600

verena gravatar image

I just solved my problem.

I had some broken spring contacts inside the LWA4P, f.e. the CAN_ERB_H and CAN_ERB_L. That's why my CAN modules have not been recognized. I fixed it and finally it works like a charm.

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Did you notice some bus off on your can interface while you had your spring contatcs throuble ? Glade your solved your problem by the way.

adrienH gravatar image adrienH  ( 2019-07-15 07:58:03 -0600 )edit

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Asked: 2019-06-13 05:00:58 -0600

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Last updated: Jun 25 '19