Open andrestoga opened 7 years ago
Hi Andres,
Can you clarify what's the control box made by Barrett? you mean the power supply and communication controller? (see the picture [http://wiki.ros.org/Robots/BarrettHand?action=AttachFile&do=view&target=BarrettHand1.JPG])
Do you have the system permissions to open the port? (ls -l /dev/ttyUSB0)
The driver only works through a peak-can (usb or pci) device.
Regards,
Hi Roman,
Yes, I mean the power supply and communication controller.
I haven't checked that. I'm going to do it tomorrow. Thanks for the suggestion. By the way, Barrett Support just told me that this package is only compatible with models BH8-280 and BH8-282. I have model BH8-262. Is there a way to make it work with BH8-262?
Best,
Hi Roman,
Ok, I changed the permissions to open the port and now I'm getting the following errors:
[ERROR] [WallTime: 1481753903.678909] /bhand_node: Error initializing the hand PCANBasic::Initialize: Port /dev/ttyUSB0 opened successfully CAN_Init() failed send_can_msg: error in CAN_Write() errno=22 iRet=-1 nGetLastError=22 PCANBasic::Write: Error writting on bus [ERROR] [WallTime: 1481753904.679916] /bhand_node: Error initializing the hand [ERROR] [WallTime: 1481753904.680257] /bhand_node::canError: Errors on CAN bus [INFO] [WallTime: 1481753904.680453] BHand::switchToState: FAILURE_STATE [INFO] [WallTime: 1481753910.610143] BHand::switchToState: INIT_STATE
Best,
Hi Andrés,
Oh, I should have asked you about the model... unfortunately this package is not compatible with the 262, sorry...
Currently I cannot tell about how to make it compatible with the BH262. As far as I know the communication is via Serial port, so it's very complicated to use the same package. I guess the ideal would be to create a new package.
Regards
Hi Roman,
I believe the only thing that is needed to change is the communication part, right? Just changing CAN bus communication with RS-232.
Best,
Hi,
We are working with the oldest version of Barrett Hand in ROS hydro. The hand is connected to the computer through a control box made by Barrett. We followed the instructions and installed everything. However, the port connected to the computer is identified as ttyUSB0, and when launching the bhand_controller node, it fails to open the port. Below is the error message: PCANBasic::Initialize: Error openning port /dev/ttyUSB0 /bhand_node: Error initializing the hand I assume that since it's connected directly through USB, so it doesn't need the pcan step?
Any ideas?
Thanks a lot!