Schunk lwa4p do not load controller
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 ...