Schunk_lwa4d problem initialising with ros_canopen
Hi,
Edit: I also opened issue 276 in ros_canopen github.
I am trying to use a schunk_lwa4d arm with an esd CAN-USB/2 in ROS but I have issues initializing it. I am using this launch file in the shunck_lwa4p package from schunk_robots.
First I do:
sudo modprobe esd_usb2
sudo ip link set can0 up type can bitrate 500000
sudo ip link set can0 txqueuelen 20
and then I run the above launch file and try to initialise with rosservice call /arm/driver/init
.
In the terminal I executed the rosservice I get:
success: False
message: "could not reset node '3'"
In the terminal I executed the ros launch I get:
[ INFO] [1524494867.079043073]: Using fixed control period: 0.010000000
[ INFO] [1524494871.222930279]: Initializing XXX
[ INFO] [1524494871.223441822]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1524494871.223800403]: Current state: 2 device error: system:0 internal_error: 0 (OK) error: 136
[ INFO] [1524494871.224968675]: Current state: 2 device error: system:0 internal_error: 136 (protocol violations;)
[ INFO] [1524494871.225023587]: Current state: 1 device error: system:0 internal_error: 136 (protocol violations;) ID: 136
[ERROR] [1524494871.234310747]: CAN not ready
[ INFO] [1524494871.899096913]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1524494876.910831528]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1524494881.225471058]: Current state: 1 device error: system:125 internal_error: 136 (protocol violations;)
[ INFO] [1524494881.225579044]: Current state: 0 device error: system:125 internal_error: 136 (protocol violations;)
[ INFO] [1524494881.225706891]: Current state: 0 device error: system:0 internal_error: 136 (protocol violations;)
[ INFO] [1524494881.225850755]: Current state: 0 device error: system:0 internal_error: 136 (protocol violations;)
[ INFO] [1524494881.917377871]: waitForService: Service [/arm/controller_manager/load_controller] has not been
advertised, waiting...
Any ideas?
Edit: thanks for you reply Mathias,
The problem was solved. The modules were not in CANopen. Using the widows tools from Schunk I had to reset the arm back to Canopen. Now it works in ROS.
If you can move/manage the modules with the Schunk tool, then they are not in CANopen 402 mode. You have to solve this python issue and set the modules to the proper mode.
Hello, Mr. Chiou. I am using the same configurations. I am getting exactly the same problem. Can you give me some advice how to solve that please ?
Hi,
As I say above the modules were not in CANopen. Using the widows tools from Schunk I had to reset the arm back to Canopen.
Hi Manolis Chiou, I have the same issue and read your comment, but I didn't understand what you are saying. Could you elaborate a bit more and explain it. Also if you have any reference or steps required in controlling the Schunk LWA 4d hardware using esd CAN-USB/2, please provide it.
Thank you
I get the problem:
using the esd CAN-USB2 card, does anyone know how to solve this problem?