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Schunk lwa4p do not load controller

asked 2021-03-24 12:31:03 -0500

Elio gravatar image

Hello all, I have been fighting for a while with an old Schunk lwa4p but I am not capable to move it. The environment is Ubuntu 14.04 and ROS indigo. I am using Peak CAN to usb adapter, with the drivers compiled in NETDEV mode. I am using the repos from IPA:

https://github.com/ipa320/schunk_modular_robotics 
https://github.com/ipa320/schunk_robots

I can run the simulations on Gazebo properly, but when I try to connect with the real robot I get errors. The sequence that I do is the following (each line in a separated terminal):

roslaunch schunk_lwa4p dashboard.launch
roslaunch schunk_lwa4p robot.launch
rosservice call /arm/driver/init

The dashboard can be launched standalone and works ok. However, the robot.launch displays the following messages:

 started roslaunch server http://elio-ThinkPad-E15:40358/

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 ...
(more)
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answered 2021-04-08 10:27:38 -0500

Elio gravatar image

I answer myself:

The problem was related to hardware. The emergency button was failing, and consequently the motors were not powered. Since I did not have any schematic of the cabinet containing the powers supplies, I did not realised that the arm is powered by two different supplies (logics and motor power).

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Asked: 2021-03-24 12:31:03 -0500

Seen: 56 times

Last updated: Apr 08 '21