Schunk SVH 5-Finger-hand with assembly board can not via USB connect to a external PC

asked 2022-02-25 09:20:43 -0600

syanc gravatar image

updated 2022-02-28 07:23:21 -0600

Hi, everyone.

My SVH-hand with assembly board can connect to a PC via Ethernet cable, then using Diagnostics GUI to hardware test. It worked well.

But if i try to connect the PC via a USB interface. The schunk_svh_driver was intalled by using:

apt-get install ros-kinetic-schunk-svh-driver

The udev rules was installed by calling:

rosrun schunk_svh_driver create_udev_rules

I try to connect the hand with:

roslaunch schunk_svh_driver svh_controller.launch

I have the following errors:

[INFO] [1645799505.181221769]: Name prefix for this Hand was set to :left_hand 
<2022-02-25 15:31:51.450> DriverSVH(Error) SVHFingerManager::connect: Connection timeout! Could not connect to SCHUNK five finger hand.
<2022-02-25 15:31:51.450> DriverSVH(Error) SVHFingerManager::connect: Send packages = 28, received packages = 25
<2022-02-25 15:31:51.500> DriverSVH(Error) SVHFingerManager::connect: Connection Failed! Send packages = 28, received packages = 25. Retrying, count: 2
<2022-02-25 15:31:57.763> DriverSVH(Error) SVHFingerManager::connect: Connection timeout! Could not connect to SCHUNK five finger hand.
<2022-02-25 15:31:57.763> DriverSVH(Error) SVHFingerManager::connect: Send packages = 28, received packages = 25
<2022-02-25 15:31:57.814> DriverSVH(Error) SVHFingerManager::connect: Connection Failed! Send packages = 28, received packages = 25. Retrying, count: 1
<2022-02-25 15:32:04.080> DriverSVH(Error) SVHFingerManager::connect: Connection timeout! Could not connect to SCHUNK five finger hand.
<2022-02-25 15:32:04.080> DriverSVH(Error) SVHFingerManager::connect: Send packages = 28, received packages = 25
<2022-02-25 15:32:04.131> DriverSVH(Error) SVHFingerManager::connect: Connection Failed! Send packages = 28, received packages = 25. Retrying, count: 0
<2022-02-25 15:32:04.131> DriverSVH(Error) SVHFingerManager::connect: A Stable connection could NOT be made, however some packages where received. Please check the hardware!
[ INFO] [1645799524.140204882]: Hand hardware controller version:  43760.531
<2022-02-25 15:32:04.140> DriverSVH(Warning) SVHFeedbackPollingThread::run: SCHUNK five finger hand is not connected!
<2022-02-25 15:32:04.150> DriverSVH(Info)::receivedPacketCallback: Hardware is using the following Firmware: S5FH Version: 2.3 : Mecovis GmbH, S5FH-Controller, Version 02.03, 20
[ INFO] [1645799524.249599945]: Trying to search controller parameters for version: 43760.531
[ERROR] [1645799524.249661055]: Could not establish connection to Schunk SVH. Please check connections and power source!
<2022-02-25 15:32:10.516> DriverSVH(Error) SVHFingerManager::connect: Connection timeout! Could not connect to SCHUNK five finger hand.
<2022-02-25 15:32:10.516> DriverSVH(Error) SVHFingerManager::connect: Send packages = 28, received packages = 25
<2022-02-25 15:32:10.566> DriverSVH(Error) SVHFingerManager::connect: Connection Failed! Send packages = 28, received packages = 25. Retrying, count: 2
<2022-02-25 15:32:16.838> DriverSVH(Error) SVHFingerManager::connect: Connection timeout! Could not connect to SCHUNK five finger hand.
<2022-02-25 15:32:16.838> DriverSVH(Error) SVHFingerManager::connect: Send packages = 28, received packages = 25
<2022-02-25 15:32:16.889> DriverSVH(Error) SVHFingerManager::connect: Connection Failed! Send packages = 28, received packages = 25. Retrying, count: 1
<2022-02-25 15:32:23.148> DriverSVH(Error) SVHFingerManager::connect: Connection timeout! Could not connect to SCHUNK five finger hand.
<2022-02-25 15:32:23.148> DriverSVH(Error) SVHFingerManager::connect: Send packages = 28, received packages = 25
[ INFO] [1645799543.198811871]: SVH Driver Ready, you will need ...
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Comments

Addition informations: I tried to use Mecovis controller to control the hand in Windows10, and everything worked fine. It means that there is no problem with the USB cable.

syanc gravatar image syanc  ( 2022-02-28 06:27:00 -0600 )edit

Hi, everyone, The problem is solved. I tried to install this schunk_svh_driver from source. Now everything works well.

syanc gravatar image syanc  ( 2022-02-28 07:22:01 -0600 )edit