Can't build ipa_canopen

asked 2016-02-29 18:14:09 -0600

gracecopplestone
31 ●3 ●5 ●9

updated 2016-03-01 08:35:00 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

I'm trying to set up communication with a pair of Schunk Light Weight Robot Arms purchased back in 2007. I have set up a catkin work space with:

cob_common
cob_extern
ipa_canopen
schunk_modular_robotics
schunk_robots

When I run catkin_make I get the following build error:

[ 98%] Built target schunk_powercube_chain
/home/parallels/catkin_ws/src/ipa_canopen/ipa_canopen_ros/src/ipa_canopen_ros.cpp:66:30: fatal error: cob_srvs/Trigger.h: No such file or directory
 #include "cob_srvs/Trigger.h"
                              ^
compilation terminated.
make[2]: *** [ipa_canopen/ipa_canopen_ros/CMakeFiles/ipa_canopen_ros.dir/src/ipa_canopen_ros.cpp.o] Error 1
make[1]: *** [ipa_canopen/ipa_canopen_ros/CMakeFiles/ipa_canopen_ros.dir/all] Error 2
make: *** [all] Error 2
Invoking "make install -j2 -l2" failed

"remove Trigger from cob_srvs" is included in one of the most recent changes of the cob_srvs change log. I'm new to ROS and it may be that I'm not following the correct procedure in terms of cloning and installing packages. I've assumed that once I've cloned them into my workspace and run catkin_make that I can begin to incorporate their functionality into my own package.

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Solved this by replacing my version of cob_srvs with the 0.6.2 release on Github, from before Trigger.h had been removed. Was then able to run catkin_make successfully.

gracecopplestone ( 2016-02-29 20:57:25 -0600 )edit

@gracecopplestone: can you please report this on either ipa320/ipa_canopen or ros-industrial/ros_canopen? This is really a bug/error.

gvdhoorn ( 2016-03-01 08:37:07 -0600 )edit

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answered 2016-03-01 09:19:39 -0600

Mathias Lüdtke

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ipa_canopen ist not supported on indigo (we will remove the branches soon).

LWA3 is using schunk_powercube_chain, LWA4 was migrated to ros_canopen with example configs in schunk_robots. In both cases you don't need ipa_canopen.

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We're struggling to figure out which model we actually have. From your experiences with Schunk would you know which model this is? http://i1285.photobucket.com/albums/a...

gracecopplestone ( 2016-03-01 12:31:53 -0600 )edit

Unfortunately, I don't know this arm. It's none of the ones with example files in schunk_robots. Ask Schunk directly! But if you are going to use ROS with it, you will most likely also face the problem that no URDF exists (yet).

Felix Messmer ( 2016-03-01 16:45:59 -0600 )edit

I don't know this model either, but it is definitely no CANopen arm. So schunk_powercube_chain might work, but it really depends on the model.

Mathias Lüdtke ( 2016-03-01 17:04:49 -0600 )edit

I believe your arm is a LWA2 ( http://www.schunk.com/schunk_files/at... , page 3, looks famillar).

Mathias Lüdtke ( 2016-03-01 17:27:27 -0600 )edit

Thanks for your answers. So if I understand correctly, if we are able to create our own URDF, there's a chance we could use it with schunk_powercube_chain?

gracecopplestone ( 2016-03-01 17:34:56 -0600 )edit

Yes, there is a chance. You could try the powercube software ( http://www.schunk.com/schunk/schunk_w... ) on windows to verify the protocol.

Mathias Lüdtke ( 2016-03-01 17:43:01 -0600 )edit

OK, to confirm, we have successfully established communication using the powercube software and hex code from the "Data exchange with Powercube" document via the PEAK CAN-USB and ESD PCI board. Now trying to figure whether there are pre-existing ROS packages to replicate comms and movement.

gracecopplestone ( 2016-03-01 18:25:39 -0600 )edit

Then http://wiki.ros.org/schunk_powercube_... should be worth a try :) You don't need a URDF for it, just the config.

Mathias Lüdtke ( 2016-03-02 03:38:41 -0600 )edit

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answered 2016-03-01 11:11:53 -0600

gracecopplestone
31 ●3 ●5 ●9

Solved this by replacing my version of cob_srvs with the 0.6.2 release on Github, from before Trigger.h had been removed. Was then able to run catkin_make successfully.

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