Hello,

I try to set up a Schunk Lwa4p with PG70 gripper, using:

H/W:

• Schunk Lwa4p
• Schunk Pg70 gripper
• Peak CAN-USB interface device

S/W

• Ubuntu 16.04 (Kernel 4.15.0-51-generic)
• ROS kinetic
• schunkmodularrobotics , schunk_robots packages
• ros_canopen

I can manage to initialize the arm successfully and using dashboard I can execute the available actions like wave, home, etc.

Even I am able to initialize the pg70 gripper using robot.launch but I can not execute the availabe actions like close, open, etc. I have checked the /diagnostics topic in that "gripper/driver: motor" is getting error code. Like following :

$ rostopic echo /diagnostics -n1
header:
  seq: 104
  stamp: 
     secs: 1560778398
     nsecs: 961220017
  frame_id: ' '
status: 
  - 
    level: 0
    name: "gripper/driver: chain"
    message: ' '
    hardware_id: "none"
    values: [ ]
  - 
    level: 0
    name: "gripper/driver: motor"
    message: ' '
    hardware_id: "none"
    values: 
        - 
           key: "error_register"
           value: "32"
        - 
           key: "errors"
           value: ' '
---