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ammarnajjar/lwa4p_logs_03.markdown

Created June 2, 2016 09:54
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Error logs (Nr. 3) for an issue faced while initializing schunk_lwa4p robot arm under ubuntu 14.04 and ros-indigo.
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lwa4p_logs_03.markdown

Powerball schunk lwa4p ESD CAN_USB/2 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, and using a different CAN dongle (ESD CAN_USB/2):

can2 info

sudo ifconfig can2
can2      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:74 errors:7 dropped:0 overruns:0 frame:0
          TX packets:46 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:20 
          RX bytes:487 (487.0 B)  TX bytes:350 (350.0 B)

$ ip -details -statistics link show can2
6: can2: <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 66 rx 8) restart-ms 0 
    bitrate 500000 sample-point 0.875 
    tq 250 prop-seg 3 phase-seg1 3 phase-seg2 1 sjw 1
    esd_usb2: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 60000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          7          0          1          1          0         
    RX: bytes  packets  errors  dropped overrun mcast   
    487        74       7       0       0       0      
    TX: bytes  packets  errors  dropped carrier collsns 
    350        46       0       0       0       0

Launching lwa4p robot arm

$ roslaunch schunk_lwa4p robot.launch
auto-starting new master
process[master]: started with pid [19617]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to bcba4938-28a6-11e6-a074-2c56dcd5020b
process[rosout-1]: started with pid [19630]
started core service [/rosout]
process[arm/robot_state_publisher-2]: started with pid [19648]
process[arm/driver-3]: started with pid [19649]
process[arm/arm_controller_spawner-4]: started with pid [19650]
process[arm/cob_control_mode_adapter_node-5]: started with pid [19651]
process[arm/joint_states_relay-6]: started with pid [19657]
[ INFO] [1464860728.249304581]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1464860729.073050638]: Using fixed control period: 0.010000000
[ INFO] [1464860733.261688377]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1464860734.041464255]: Initializing XXX
[ INFO] [1464860734.041671300]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1464860734.041809437]: Current state: 2 device error: system:0 internal_error: 0 (OK)
error: 136
[ INFO] [1464860734.068205210]: Current state: 2 device error: system:0 internal_error: 136 (protocol violations;)
[ INFO] [1464860734.068229807]: Current state: 1 device error: system:0 internal_error: 136 (protocol violations;)
ID: 136
[ERROR] [1464860734.072042638]: CAN not ready
Did not receive a response message
Did not receive a response message
Did not receive a response message
[ INFO] [1464860737.069475261]: Current state: 1 device error: system:125 internal_error: 136 (protocol violations;)
[ INFO] [1464860737.069509961]: Current state: 1 device error: system:0 internal_error: 136 (protocol violations;)
[ INFO] [1464860737.069524011]: Current state: 0 device error: system:0 internal_error: 136 (protocol violations;)
[ INFO] [1464860737.069554113]: Current state: 0 device error: system:0 internal_error: 136 (protocol violations;)
[ INFO] [1464860738.271453130]: 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*] = 6064sub0

Output of candump during the process

$ candump -l can2,0:0,#FFFFFFFF
(1464860734.042359) can2 000#8203
(1464860734.044892) can2 703#00
(1464860734.045639) can2 603#2B17100000000000
(1464860734.056888) can2 583#6017100000000000
(1464860734.057497) can2 603#4000180100000000
(1464860734.057773) can2 583#4300180183010000
(1464860734.058248) can2 603#2300180183010080
(1464860734.058624) can2 583#6000180100000000
(1464860734.059142) can2 603#2F001A0000000000
(1464860734.059507) can2 583#60001A0000000000
(1464860734.059986) can2 603#23001A0110004160
(1464860734.060235) can2 583#60001A0100000000
(1464860734.060986) can2 603#4041600000000000
(1464860734.061361) can2 583#4B41600000820000
(1464860734.061985) can2 603#23001A0208006160
(1464860734.062362) can2 583#60001A0200000000
(1464860734.062991) can2 603#4061600000000000
(1464860734.063239) can2 583#4F61600000000000
(1464860734.063872) can2 603#2F001A0002000000
(1464860734.064247) can2 583#60001A0000000000
(1464860734.064748) can2 603#2300180183010000
(1464860734.064999) can2 583#6000180100000000
(1464860734.065624) can2 603#406B600000000000
(1464860734.065872) can2 583#436B6000FAC1519C
(1464860734.066373) can2 603#406C600000000000
(1464860734.066764) can2 583#436C600000000000
(1464860734.067248) can2 603#4002180100000000
(1464860734.067623) can2 583#4302180183030080
(1464860734.068123) can2 20000088#0000820000004208
(1464860734.068369) can2 603#2302180183030080
(1464860734.068749) can2 583#6002180100000000
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