after resetting the arm reference position with the Schunk MTS tool, we experience strange behaviour of the arm (not sure if it was there before too).
I sometimes can init, but then the modules show quick stop or emergency error. So it is impossible to move the arm. Recovering says "True" and in diagnostics you can very shortly see OK, but the quick stop or emergency stop is active again. see candump https://gist.github.com/ipa-fmw/d2355a5ad93af345ccf23b35637adb63
Most of the time I cannot init. Either it says:
robot@cob4-5-b1:~$ rosservice call /arm_right/driver/init
success: False
message: Internal limit active
robot@cob4-5-b1:~/git/setup_cob4/cob-pcs$ rosservice call /arm_right/driver/init
success: False
message: /u/robot/git/care-o-bot/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*] = 1a02sub0
robot@cob4-5-b1:~/git/setup_cob4/cob-pcs$ rosservice call /arm_right/driver/init
success: False
message: /u/robot/git/care-o-bot/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*] = 606bsub0
rosparam get /arm_right/
arm_right_1_joint_position_controller: {joint: arm_right_1_joint, required_drive_mode: 1,
type: position_controllers/JointPositionController}
arm_right_1_joint_velocity_controller: {joint: arm_right_1_joint, required_drive_mode: 2,
type: velocity_controllers/JointVelocityController}
arm_right_2_joint_position_controller: {joint: arm_right_2_joint, required_drive_mode: 1,
type: position_controllers/JointPositionController}
arm_right_2_joint_velocity_controller: {joint: arm_right_2_joint, required_drive_mode: 2,
type: velocity_controllers/JointVelocityController}
arm_right_3_joint_position_controller: {joint: arm_right_3_joint, required_drive_mode: 1,
type: position_controllers/JointPositionController}
arm_right_3_joint_velocity_controller: {joint: arm_right_3_joint, required_drive_mode: 2,
type: velocity_controllers/JointVelocityController}
arm_right_4_joint_position_controller: {joint: arm_right_4_joint, required_drive_mode: 1,
type: position_controllers/JointPositionController}
arm_right_4_joint_velocity_controller: {joint: arm_right_4_joint, required_drive_mode: 2,
type: velocity_controllers/JointVelocityController}
arm_right_5_joint_position_controller: {joint: arm_right_5_joint, required_drive_mode: 1,
type: position_controllers/JointPositionController}
arm_right_5_joint_velocity_controller: {joint: arm_right_5_joint, required_drive_mode: 2,
type: velocity_controllers/JointVelocityController}
arm_right_6_joint_position_controller: {joint: arm_right_6_joint, required_drive_mode: 1,
type: position_controllers/JointPositionController}
arm_right_6_joint_velocity_controller: {joint: arm_right_6_joint, required_drive_mode: 2,
type: velocity_controllers/JointVelocityController}
arm_right_7_joint_position_controller: {joint: arm_right_7_joint, required_drive_mode: 1,
type: position_controllers/JointPositionController}
arm_right_7_joint_velocity_controller: {joint: arm_right_7_joint, required_drive_mode: 2,
type: velocity_controllers/JointVelocityController}
driver:
bus: {device: can2}
defaults:
dcf_overlay: {604Csub1: '1', 604Csub2: '24000'}
eds_file: common/Schunk_0_63.dcf
eds_pkg: cob_hardware_config
vel_to_device: rint(rad2deg(vel)*250)
nodes:
- {id: 51, name: arm_right_1_joint}
- {id: 52, name: arm_right_2_joint}
- {id: 53, name: arm_right_3_joint}
- {id: 54, name: arm_right_4_joint}
- {id: 55, name: arm_right_5_joint}
- {id: 56, name: arm_right_6_joint}
- {id: 57, name: arm_right_7_joint}
sync: {interval_ms: 10, overflow: 0}
joint_group_position_controller:
joints: [arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint,
arm_right_5_joint, arm_right_6_joint, arm_right_7_joint]
required_drive_mode: 1
type: position_controllers/JointGroupPositionController
joint_group_velocity_controller:
joints: [arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint,
arm_right_5_joint, arm_right_6_joint, arm_right_7_joint]
required_drive_mode: 2
type: velocity_controllers/JointGroupVelocityController
joint_names: [arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint,
arm_right_5_joint, arm_right_6_joint, arm_right_7_joint]
joint_state_controller: {publish_rate: 50, type: joint_state_controller/JointStateController}
joint_trajectory_controller:
action_monitor_rate: 10
constraints:
arm_right_1_joint: {goal: 0.1, trajectory: 0.1}
arm_right_2_joint: {goal: 0.1, trajectory: 0.1}
arm_right_3_joint: {goal: 0.1, trajectory: 0.1}
arm_right_4_joint: {goal: 0.1, trajectory: 0.1}
arm_right_5_joint: {goal: 0.1, trajectory: 0.1}
arm_right_6_joint: {goal: 0.1, trajectory: 0.1}
arm_right_7_joint: {goal: 0.1, trajectory: 0.1}
goal_time: 0.6
stopped_velocity_tolerance: 0.05
joints: [arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint,
arm_right_5_joint, arm_right_6_joint, arm_right_7_joint]
required_drive_mode: 7
state_publish_rate: 25
stop_trajectory_duration: 0.5
type: position_controllers/JointTrajectoryController
max_command_silence: 0.5