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Can not connect the Schunk SVH hand

asked 2021-04-26 07:01:23 -0500

stann gravatar image

updated 2021-04-26 19:37:23 -0500

jayess gravatar image

Can not connect to the Schunk SVH hand following the guide. When i type in the command:

roslaunch schunk_svh_driver svh_sin_test.launch

the output of the terminal shows:

setting /run_id to 8b9dd630-a678-11eb-a4e6-1c666d93cfe2
process[rosout-1]: started with pid [3323]
started core service [/rosout]
process[svh_controller-2]: started with pid [3326]
process[output_joint_state_publisher-3]: started with pid [3327]
process[robot_state_publisher-4]: started with pid [3328]
process[svh_sin_test-5]: started with pid [3329]
[ WARN] [1619432225.562599660]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
[ INFO] [1619432225.776599377]: Name prefix for this Hand was set to :left_hand
<2021-04-26 18:17:11.818> DriverSVH(Error) SVHFingerManager::connect: Connection timeout! Could not connect to SCHUNK five finger hand.
<2021-04-26 18:17:11.818> DriverSVH(Error) SVHFingerManager::connect: Send packages = 28, received packages = 0
<2021-04-26 18:17:11.868> DriverSVH(Error) SVHFingerManager::connect: Connection Failed! Send packages = 28, received 
packages = 0. Not Retrying anymore.
<2021-04-26 18:17:11.868> DriverSVH(Error) SVHFingerManager::connect: A Stable connection could NOT be made, however some packages where received. Please check the hardware!
[ INFO] [1619432231.869896639]: Hand hardware controller version:  32960.57984
<2021-04-26 18:17:11.869> DriverSVH(Warning) SVHFeedbackPollingThread::run: SCHUNK five finger hand is not connected!
[ INFO] [1619432231.972078190]: Trying to search controller parameters for version: 32960.57984
[ERROR] [1619432231.972129722]: Could not establish connection to Schunk SVH. Please check connections and power source!
<2021-04-26 18:17:18.012> DriverSVH(Error) SVHFingerManager::connect: Connection timeout! Could not connect to SCHUNK five finger hand.
<
2021-04-26 18:17:18.012> DriverSVH(Error) SVHFingerManager::connect: Send packages = 28, received packages = 0
[ INFO] [1619432238.062657887]: SVH Driver Ready, you will need to connect and reset the fingers before you can use the hand.
<2021-04-26 18:17:18.062> DriverSVH(Error) SVHFingerManager::connect: Connection Failed! Send packages = 28, received packages = 0. Not Retrying anymore.
<2021-04-26 18:17:18.062> DriverSVH(Error) SVHFingerManager::connect: A Stable connection could NOT be made, however some packages where received. Please check the hardware!
[ WARN] [1619432238.325460102]: Set target position command rejected!
<2021-04-26 18:17:18.325> DriverSVH(Error) SVHFingerManager::setAllTargetPositions: Could not set target position vector: No connection to SCHUNK five finger hand!
^C[svh_sin_test-5] killing on exit
[robot_state_publisher-4] killing on exit
[output_joint_state_publisher-3] killing on exit
[svh_controller-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Other computers in the laboratory can be effectively connected under the same configuration, Can anyone tell me where the problem is!

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answered 2021-04-26 14:05:43 -0500

duck-development gravatar image

you may have to cheack the wiring of the rs485 and you usb adapter.

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Can you be more specific please?Thanks a lot!

stann gravatar image stann  ( 2021-04-26 21:40:34 -0500 )edit

your log show <2021-04-26 18:17:11.868> DriverSVH(Error) SVHFingerManager::connect: A Stable connection could NOT be made, however some packages where received. Please check the hardware!

so maybe something with the connection between the pc and the hand is wrong. if you connect the other pc do you use the same adapter.

duck-development gravatar image duck-development  ( 2021-04-27 01:00:50 -0500 )edit

The hand is mounted and operated on the assembly board see Assembly and Operating Manual SVH. The PC is connected with the assembly board by USB connection, i do not change any thing except the computer. When the usb is plugged into my PC the entry /ttyUSB0 also comes up. So i am very confused!Thanks for your reply!

stann gravatar image stann  ( 2021-04-27 02:45:39 -0500 )edit

OK with the adaptor board you not able to do something wrong.

May change the USB cable or try to connect to an other USB port of the ROS PC. If it a PC use the back USB connection directly on the Mainboard. Maby the Linux USB host drive ic Has some issues.

duck-development gravatar image duck-development  ( 2021-04-28 14:16:46 -0500 )edit

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Asked: 2021-04-26 07:01:23 -0500

Seen: 26 times

Last updated: Apr 26