"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 ...
The actual errrors should be listed in
/diagnostics
. If you launch with--screen
you should get the errors printed to stdout as well. (requires v0.6.6 or newer). Instead of using the dashboard, you should try the contoller manager plugin forrqt
.