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2017-05-11 06:36:15 -0500 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

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2017-03-31 11:46:29 -0500 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 -0500 received badge  Enthusiast
2017-02-20 07:11:00 -0500 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 -0500 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

  1. using different plugins (gazebo_ros_f3d)item
  2. using the force_torque SDF sensor
  3. using different joints and links as measurement sources
  4. 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!