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RobotnikAutomation / barrett_hand

ROS package to control the Barrett Hand
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INIT_STATE ERROR #5

Open allanis43 opened 9 years ago

allanis43 commented 9 years ago

Hello,

I am using BH-282, Ubuntu-12.0.4, Hydro.

When ever im trying to initialize the hand i'm getting this error:

[ERROR] [WallTime: 1431126043.914097] /bhand_node::handActions: error on INIT_HAND service [ERROR] [WallTime: 1431126043.914907] /bhand_node::canError: Errors on CAN bus.

Can anyone help me in resolving the issue?

arvinasokan commented 8 years ago

Hello there, I am trying to setup the barrett hand BH-282 and I get the same error, I also tried commenting "self.get_property(FINGER1, ROLE)" in pyhand api so that It would skip to the ready state, It does skip to the ready state momentarily and then it switches back to Failure state.

I noticed that this is due to the fact that the can bus cannot read back the state information from the hand and so the controller node switches to failure state as it doesn't get any response from the hand.

I am not sure, if this is a problem with the hand or if there is a problem with the linux drivers. But my best guess is that the linux drivers have not been configured properly or there is some issue with the peak linux drivers.

It would be really helpful if someone else could confirm this. and also help me with making the hand to work.

RolandZhu commented 4 years ago

Hello,

I encountered the same problem with Ubuntu 18.04 and Melodic. It was fine yesterday when I tested at home and failed when I moved the hand to another place today. Surprisingly, it works fine again when I took it home again.

One guess is the read/write of the CAN bus might be related to the supply voltage.