Schunk_lwa4p problem initialising with ros_canopen in ubuntu18.04

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I am trying to use a schunk_lwa4p arm with an esd CAN-USB/2 in ROS(melodic) but I have issues initializing it. I am using launch file in the shunck_lwa4p package from schunk_robots.

First I do:

sudo modprobe esd_usb2
sudo ip link set can0 up type can bitrate 500000
sudo ip link set can0 txqueuelen 20

and then I run the above launch file and try to initialise with rosservice call /arm/driver/init. In the terminal I executed the rosservice I get:

process[arm/robot_state_publisher-1]: started with pid [5132]
process[arm/driver-2]: started with pid [5133]
process[arm/arm_controller_spawner-3]: started with pid [5134]
process[arm/cob_control_mode_adapter_node-4]: started with pid [5135]
process[arm/joint_states_relay-5]: started with pid [5141]
[ INFO] [1619357762.708655902]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1619357762.880345356]: Using fixed control period: 0.010000000

[ INFO] [1619357765.889324168]: Initializing...
[ INFO] [1619357765.889686688]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1619357765.889942375]: Current state: 2 device error: system:0 internal_error: 0 (OK)
[ INFO] [1619357767.728868373]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1619357771.862078484]: Current state: 2 device error: system:125 internal_error: 0 (OK)
[ INFO] [1619357771.862138958]: Current state: 0 device error: system:125 internal_error: 0 (OK)
[ INFO] [1619357771.862185541]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ INFO] [1619357771.862242595]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ERROR] [1619357771.862419562]: Initializing failed: Transition timeout; Could not enable motor

I checked a lot of information and they suggested to modify the EDS file, but what should I do specificly?