INIT_STATE Error

[Randa-Almadhoun]

Hi

I have the same problem occured in this closed issue : https://github.com/RobotnikAutomation/barrett_hand/issues/1

Initialization fails, following the proposed suggestions written in the closed issue above helped in changing the state into ready state, but it can't move or read the sensors. I am using BH280 + ubuntu 12.04 + peak-linux-7.13 (NET=NO_NETDEV_SUPPORT RT=NO_RT) and I tried different frequencies down to 50 and still facing the same problem.

[RomanRobotnik]

Hi,

I don't have a BH280 to test if this is a problem with this version, but I'm going to ask. So far, all the problems seem to be related to the BH280.

[RomanRobotnik]

There are a few reasons why the CAN bus would change from READY to FAILURE:

• The most common reason is that the CAN termination resistor switch is set incorrectly. Please make sure the CAN bus is terminated properly according to: http://support.barrett.com/chrome/site/bhand/280/hardwareconfig.jpg
• The customer may be "browning-out" the power supply by setting the motor MT values too high before grabbing an object (usually a soft object). If the input voltage (48V nominal) dips below 18V, the DSPs will reset and may cause a CAN fault. The default MT values should never cause a failure.
• The BHand power supply and the computer may need to be plugged into the same power outlet. Some customers experience CAN errors when the computer and the robot do not share a common phase ground. Some rooms are wired such that different phases are sent to different outlets.

[Randa-Almadhoun]

I tried the steps suggested for terminating the CAN bus and I also reduced the frequency to 100 but still facing the same problem, The BHand power supply and the computer are plugged into the same power outlet,

The BHand power supply and the BHand setup images are attached

[TarekTaha]

to add to Randa's comments: the only way we are currently able to control the barrett hand is through a modified version of the "owd" library, and internally developed ROS package: https://github.com/kuri-kustar/barrett_hand . The modifications we made to the "owd" library were mainly in the CANbus.cc file where we added a call to extra_bus_commands(); after setting the properties https://github.com/kuri-kustar/barrett_hand/blob/master/barrett_hand_hardware_interface/CANbus.cc . We also reduced the PERIOD in the control loop from 2ms to 10ms https://github.com/kuri-kustar/barrett_hand/blob/master/barrett_hand_hardware_interface/owd/openwam/ControlLoop.hh . It seems to me that the CAN reading protocol is not consistent across the barrett hands, or we are using an old firmware.

It would be great if you can fix this issue so we can use your official package.