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ammarnajjar/lwa4p_logs_02.markdown

Last active June 2, 2016 09:12
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Error logs (Nr. 2) for an issue faced while initializing schunk_lwa4p robot arm under ubuntu 14.04 and ros-indigo.
Raw
lwa4p_logs_02.markdown

Powerball schunk lwa4p (controller problems;) related logs

After preparing ros-indigo and catkin workspace as descriped in catkin_ws_indigo_setup.sh , then applying this patch to comment lost arbitation error handling in ros_canopn package source:

can0 info

sudo ifconfig can0
can0      Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  
          UP RUNNING NOARP  MTU:16  Metric:1
          RX packets:2179 errors:0 dropped:0 overruns:0 frame:0
          TX packets:932 errors:18 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:20 
          RX bytes:13572 (13.5 KB)  TX bytes:5208 (5.2 KB)
          Interrupt:19

$ ip -details -statistics link show can0
3: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT group default qlen 20
    link/can  promiscuity 0
    can state ERROR-ACTIVE (berr-counter tx 95 rx 0) restart-ms 0
    bitrate 500000 sample-point 0.875
    tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1
    sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1
    clock 8000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          18         4          4          0
    RX: bytes  packets  errors  dropped overrun mcast
    13572      2179     0       0       0       0
    TX: bytes  packets  errors  dropped carrier collsns
    5208       932      18      0       0       0

Launching lwa4p robot arm

$ roslaunch schunk_lwa4p robot.launch
auto-starting new master
process[master]: started with pid [8714]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f66cfb34-289d-11e6-ad02-2c56dcd5020b
process[rosout-1]: started with pid [8727]
started core service [/rosout]
process[arm/robot_state_publisher-2]: started with pid [8745]
process[arm/driver-3]: started with pid [8746]
process[arm/arm_controller_spawner-4]: started with pid [8747]
process[arm/cob_control_mode_adapter_node-5]: started with pid [8748]
process[arm/joint_states_relay-6]: started with pid [8761]
[ INFO] [1464856959.587607756]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1464856960.392384814]: Using fixed control period: 0.010000000
[ INFO] [1464856964.586854535]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1464856969.601294921]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1464856974.615640361]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1464856979.631151795]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1464856984.645508500]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1464856989.660044124]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1464856991.028215872]: Initializing XXX
[ INFO] [1464856991.028404341]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1464856991.028516739]: Current state: 2 device error: system:0 internal_error: 0 (OK)
error: 4
[ INFO] [1464856991.126225551]: Current state: 2 device error: system:0 internal_error: 4 (controller problems;)
[ INFO] [1464856991.126247695]: Current state: 1 device error: system:0 internal_error: 4 (controller problems;)
ID: 4
[ERROR] [1464856991.128737225]: CAN not ready
Did not receive a response message
[ INFO] [1464856992.126954288]: Current state: 1 device error: system:125 internal_error: 4 (controller problems;)
[ INFO] [1464856992.126990285]: Current state: 1 device error: system:0 internal_error: 4 (controller problems;)
[ INFO] [1464856992.127007089]: Current state: 0 device error: system:0 internal_error: 4 (controller problems;)
[ INFO] [1464856992.127039015]: Current state: 0 device error: system:0 internal_error: 4 (controller problems;)
[ INFO] [1464856994.676125325]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...

Initializing the arm

$ rosservice call /arm/driver/init
success: False
message: /home/prokon/catkin_ws/src/ros_canopen/canopen_master/src/sdo.cpp(429): Throw in function void canopen::SDOClient::transmitAndWait(const canopen::ObjectDict::Entry&, const canopen::String&, canopen::String*)
Dynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<canopen::TimeoutException> >
std::exception::what: SDO
[canopen::tag_objectdict_key*] = 1401sub1

Output of candump during the process

$ candump -l can0,0:0,#FFFFFFFF
(1464856991.028911) can0 000#8203
(1464856991.031470) can0 703#00
(1464856991.031987) can0 603#2B17100000000000
(1464856991.105240) can0 583#6017100000000000
(1464856991.105713) can0 603#4000180100000000
(1464856991.106056) can0 583#4300180183010000
(1464856991.106384) can0 603#2300180183010080
(1464856991.106781) can0 583#6000180100000000
(1464856991.107185) can0 603#2F001A0000000000
(1464856991.107560) can0 583#60001A0000000000
(1464856991.107899) can0 603#23001A0110004160
(1464856991.108210) can0 583#60001A0100000000
(1464856991.108673) can0 603#4041600000000000
(1464856991.108960) can0 583#4B41600000820000
(1464856991.109318) can0 603#23001A0208006160
(1464856991.109687) can0 583#60001A0200000000
(1464856991.110039) can0 603#4061600000000000
(1464856991.110332) can0 583#4F61600000000000
(1464856991.110700) can0 603#2F001A0002000000
(1464856991.111140) can0 583#60001A0000000000
(1464856991.111473) can0 603#2300180183010000
(1464856991.111815) can0 583#6000180100000000
(1464856991.112243) can0 603#406B600000000000
(1464856991.112568) can0 583#436B6000FAC15990
(1464856991.112937) can0 603#406C600000000000
(1464856991.113301) can0 583#436C600000000000
(1464856991.113658) can0 603#4002180100000000
(1464856991.113997) can0 583#4302180183030080
(1464856991.114299) can0 603#2302180183030080
(1464856991.114666) can0 583#6002180100000000
(1464856991.114978) can0 603#2F021A0000000000
(1464856991.115319) can0 583#60021A0000000000
(1464856991.115646) can0 603#23021A0120006460
(1464856991.115993) can0 583#60021A0100000000
(1464856991.116368) can0 603#4064600000000000
(1464856991.116697) can0 583#4364600000000000
(1464856991.117022) can0 603#23021A0220006C60
(1464856991.117369) can0 583#60021A0200000000
(1464856991.117753) can0 603#2F021A0002000000
(1464856991.118197) can0 583#60021A0000000000
(1464856991.118546) can0 603#2302180183030000
(1464856991.118880) can0 583#6002180100000000
(1464856991.119374) can0 603#4000140100000000
(1464856991.119685) can0 583#4300140103020000
(1464856991.120002) can0 603#2300140103020080
(1464856991.120373) can0 583#6000140100000000
(1464856991.120696) can0 603#2F00160000000000
(1464856991.121049) can0 583#6000160000000000
(1464856991.121396) can0 603#2300160110004060
(1464856991.121755) can0 583#6000160100000000
(1464856991.122096) can0 603#4040600000000000
(1464856991.122396) can0 583#4B40600000010000
(1464856991.122699) can0 603#2300160210004260
(1464856991.123059) can0 583#6000160200000000
(1464856991.123402) can0 603#230016032001C160
(1464856991.123741) can0 583#6000160300000000
(1464856991.124059) can0 603#40C1600100000000
(1464856991.124390) can0 583#43C16001F1C9AA0F
(1464856991.124719) can0 603#2F00140201000000
(1464856991.125062) can0 583#6000140200000000
(1464856991.125372) can0 603#2F00160003000000
(1464856991.125800) can0 583#6000160000000000
(1464856991.126108) can0 603#2300140103020000
(1464856991.126115) can0 20000004#0040000000005F00
(1464856991.126497) can0 583#6000140100000000
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