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Hi, My configuration: Schunk Lwa3 - 7 DOF - All Rotary joints ESD CAN PCI 331 - 3.9.4 Driver Version - Kernel 3.8 ROS Fuerte - Ubuntu 12.04 LTS I also got error code 209 while starting the schunk_modular_robotics package with roslaunch

when i created a package depending on schunk_libm5api check CMakeLists for including ESD CAN also for compilation. In some packages it compiles only with PCAN linking target library to lib/schunk_libm5api/libm5api.so programming with the Powercube Programmer guide using the API It works. Will soon share the package.

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