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2017-05-11 06:36:15 -0600	answered a question	"Node has emergency error" : Issue on Lwa4D I was finally able to solve my problem. After taking a look at the /diagnostics topic and executing candump can0, I rea
2017-03-31 11:47:36 -0600	received badge	● Popular Question (source)
2017-03-31 11:46:29 -0600	asked a question	"Node has emergency error" : Issue on Lwa4D Hello, I try to set up a Schunk Lwa4d with PG70 gripper, using: H/W: Schunk Lwa4d Schunk Pg70 gripper Peak CAN-USB interface device S/W: Ubuntu 14.04 (Kernel 4.4.0-31-generic) ROS Indigo schunk_modular_robotics , schunk_robots packages ros_canopen I manage to initialize the arm driver successfully. After launching the dashboard, I try to execute one of the available actions (home, wave etc), but I get a jitter-like noise from my motors, followed by a "Node has emergency error" error. schunk@schunk-CS-B:~$ roslaunch schunk_lwa4d robot.launch ... logging to /home/schunk/.ros/log/987657f0-162c-11e7-bac4-40167ea4b96c/roslaunch-schunk-CS-B-30697.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://schunk-CS-B:43046/ 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_control... * /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_control... * /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/arm_7_joint_position_controller/joint: arm_7_joint * /arm/arm_7_joint_position_controller/required_drive_mode: 1 * /arm/arm_7_joint_position_controller/type: position_controll... * /arm/arm_7_joint_velocity_controller/joint: arm_7_joint * /arm/arm_7_joint_velocity_controller/required_drive_mode: 2 * /arm/arm_7_joint_velocity_controller/type: velocity_controll... * /arm/driver/bus/device: can0 * /arm/driver/defaults/eds_file: config/Schunk_0_6... * /arm/driver/defaults/eds_pkg: schunk_lwa4d * /arm/driver/defaults/vel_to_device: rad2deg(vel)250 /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/nodes/arm_7_joint/id: 9 * /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_limits/arm_1_joint/has_acceleration_limits: False * /arm/joint_limits/arm_1_joint/has_effort_limits: False * /arm/joint_limits/arm_1_joint/has_jerk_limits: False * /arm/joint_limits/arm_1_joint/has_velocity_limits: False * /arm/joint_limits/arm_1_joint/max_acceleration: 0.4 * /arm/joint_limits/arm_1_joint/max_effort: 5.0 * /arm/joint_limits/arm_1_joint/max_jerk: 100.0 * /arm/joint_limits/arm_1_joint/max_velocity: 0.4 * /arm/joint_limits/arm_2_joint/has_acceleration_limits: False * /arm/joint_limits/arm_2_joint/has_effort_limits: False * /arm/joint_limits/arm_2_joint/has_jerk_limits: False * /arm/joint_limits/arm_2_joint/has_velocity_limits: False * /arm/joint_limits/arm_2_joint/max_acceleration: 0.4 * /arm/joint_limits/arm_2_joint/max_effort: 5.0 * /arm/joint_limits/arm_2_joint/max_jerk: 100.0 * /arm/joint_limits/arm_2_joint/max_velocity: 0 ... (more)
2017-02-24 19:33:19 -0600	received badge	● Enthusiast
2017-02-20 07:11:00 -0600	commented question	FT Sensor shows zero forces Hello, I haven't posted anything there, but I will. If you feel it should not be here then close it, but nevertheless I would appreciate if any help comes from either site.
2017-02-19 19:10:01 -0600	asked a question	FT Sensor shows zero forces Hello, I am working on an implementation of a FT sensor using Gazebo 2.2, ROS Indigo and Ubuntu 14.04. I have written my SDF model like follows: <?xml version="1.0"?> <sdf version="1.4"> <model name="pillar"> <static>false</static> <link name="obstacle"> <visual name = "obVis"> <pose>0 -0.4 1.14 0 0 0</pose> <geometry> <box> <size> 0.042 0.042 0.74 </size> </box> </geometry> <material name = "obMat"> <ambient> 0 0 .8 1</ambient> </material> </visual> <collision name = "obCOl" > <pose>0 -0.4 1.14 0 0 0</pose> <geometry> <box> <size> 0.042 0.042 0.74 </size> </box> </geometry> </collision> </link> <link name="ftBase"> <visual name = "ftBaseVis"> <pose>0 -0.358 1.3 0 0 0</pose> <geometry> <box> <size> 0.042 0.042 0.042 </size> </box> </geometry> <material name = "ftBaseMat"> <ambient> 0 0 .8 1</ambient> </material> </visual> <collision name = "ftBaseCol" > <pose>0 -0.358 1.3 0 0 0</pose> <geometry> <box> <size> 0.042 0.042 0.042 </size> </box> </geometry> </collision> </link> <link name="ftButton"> <visual name = "ftButtonVis"> <pose>0 -0.332 1.3 1.5708 0 0</pose> <geometry> <cylinder> <radius> 0.01 </radius> <length> 0.01 </length> </cylinder> </geometry> <material name = "ftButtonMat"> <ambient> 0 0 .8 1</ambient> </material> </visual> <collision name = "ftButtonCol" > <pose>0 -0.332 1.3 1.5708 0 0</pose> <geometry> <cylinder> <radius> 0.01 </radius> <length> 0.01 </length> </cylinder> </geometry> </collision> </link> <joint name="obstacle_ftBase_joint" type="prismatic"> <physics> <provide_feedback> true </provide_feedback> <ode> <provide_feedback> true </provide_feedback> </ode> </physics> <parent> ftBase </parent> <child> obstacle </child> <axis> <xyz>0 0 1</xyz> </axis> <limit> <lower> 0 </lower> <upper> 0 </upper> </limit> </joint> <joint name="ftBase_ftButton_joint" type="revolute"> <parent> ftBase </parent> <child> ftButton </child> <axis> <xyz>0 0 1</xyz> </axis> <limit> <lower> 0 </lower> <upper> 0 </upper> </limit> </joint> <plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so"> <alwaysOn> true </alwaysOn> <updateRate>10.0</updateRate> <topicName>ft_sensor</topicName> <jointName>obstacle_ftBase_joint</jointName> </plugin> </model> </sdf> This spawns a pillar with a button . I want to measure the force applied to the pillar when the robot collides with it. I use `rostopic echo /ft_sensor` to view the forces. While I can see the topic and the corresponding WrenchStamped message, I hit the pillar with the robot and the forces are always zero. I have tried using different plugins (gazebo_ros_f3d)item using the force_torque SDF sensor using different joints and links as measurement sources implementation of the whole environment in URDF instead of SDF. I have seen similar questions related to FT implementation asked online, but the closest I get is to view the topic with zero forces. I would be thankful for any suggestions. Thanks!