Hello everyone,

currently I´m working on establishing a connection between my ROS computer and the Pilz hardware setup to control a prbt 6 manipulator (e. g. through RViz). Therefore I stick to the github documentation of Pilz itself (pilz_robots). Until now I was not able to build a stable connection via CAN. To be more specific, here is some information of my system:

• running Linux kernel 4.15.0-88-generic
• Ubuntu 16.04 LTS
• ROS distribution: kinetic
• Pilz packages (version 0.4.11) built in ROS workspace without errors
• PCAN-USB opto-decoupled adapter (type IPEH-002022; including the procedure of activating the internal termination)

From here my start routine looks like this:

• plug in pcan usb adapter to PMCPrimo and ethernet cable to PSS4000
• ping network without package loss

For the pcan I use the drivers, which are included in Linux Kernel:

$ grep PEAK_ /boot/config-`uname -r`
CONFIG_CAN_PEAK_PCIEFD=m
CONFIG_CAN_PEAK_PCMCIA=m
CONFIG_CAN_PEAK_PCI=m
CONFIG_CAN_PEAK_PCIEC=y
CONFIG_CAN_PEAK_USB=m

and do:

$ lsmod | grep ^peak
peak_usb               40960  0

for checking, if the adapter was initialized.

Get interace information:

$ ifconfig -a

can0      Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  
          NOARP  MTU:16  Metric:1
          RX packets:0 errors:0 dropped:0 overruns:0 frame:0
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0


          collisions:0 txqueuelen:10 
          RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)

enp2s0    Link encap:Ethernet  HWaddr 98:fa:9b:99:d8:91  
          inet addr:192.168.0.18  Bcast:192.168.255.255  Mask:255.255.0.0
          inet6 addr: fe80::87be:19c5:3ddd:8684/64 Scope:Link
          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
          RX packets:88 errors:0 dropped:0 overruns:0 frame:0
          TX packets:71 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:9134 (9.1 KB)  TX bytes:11009 (11.0 KB)

lo        Link encap:Local Loopback  
          inet addr:127.0.0.1  Mask:255.0.0.0
          inet6 addr: ::1/128 Scope:Host
          UP LOOPBACK RUNNING  MTU:65536  Metric:1
          RX packets:666 errors:0 dropped:0 overruns:0 frame:0
          TX packets:666 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:76014 (76.0 KB)  TX bytes:76014 (76.0 KB)

wlp4s0    Link encap:Ethernet  HWaddr 10:63:c8:37:c9:67  
          BROADCAST MULTICAST  MTU:1500  Metric:1
          RX packets:0 errors:0 dropped:0 overruns:0 frame:0
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)

Set up CAN interface:

    $ sudo ip link set can0 up type can bitrate 1000000

And launch the file:

    $ roslaunch prbt_moveit_config moveit_planning_execution.launch sim:=false gripper:=pg70 pipeline:=ompl sto:=pss4000

While running the launch file I simultaneously check the CAN interface via:

$ ip -details -statistics link show can0 

3: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP mode DEFAULT group default qlen 10
    link/can  promiscuity 0 
    can state ERROR-ACTIVE restart-ms 0 
      bitrate 1000000 sample-point 0.750 
      tq 125 prop-seg 2 phase-seg1 3 phase-seg2 2 sjw 1
      pcan_usb: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1
      clock 8000000
      re-started bus-errors arbit-lost error-warn error-pass bus-off
      0          0          0          0          0          0         
    RX: bytes  packets  errors  dropped overrun mcast   
    82273      15303    0       0       0       0       
    TX: bytes  packets  errors  dropped carrier collsns 
    4670       1746     0       0       0       0   

and do:

    $ candump -l can0

to save the output in attached log file.

Suspicious to me is that part, where following error occurred while running the launch file:

[ INFO] [1582714101.157859766]: Current state: 2 device error: system:125 internal_error: 0 (OK)
[ERROR] [1582714101.157979753]: not operational
[ INFO] [1582714101.158059302]: Current state: 0 device error: system:125 internal_error: 0 (OK)
[ INFO] [1582714101.158107563]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ INFO] [1582714101.158194864]: Current state: 0 device error: system:0 internal_error: 0 (OK)

but to be frank, i cant get a hint how to deal with this info and error messages.

Last week I somehow did get this connection working, so I was able to control the real prbt manipulator with RViz on my machine. At that point I had installed the external pcan driver package of peak system. Maybe the driver installation caused a reconfiguration, if this is possible. However I cannot reproduce this behavior anymore...

I´m quite new to actively use this forum, so I´m not able to bring up the whole terminal output of the roslaunch and candump commands. Do you have any suggestion, how to publish those information?

I´m sure you are more experienced in terms of connecting a ROS machine to hardware than me. So I hope you can tell me what I am doing wrong here.

Best regards

Florian