robotnik_base_hw keep waiting for motors ready

Hi, I working on summit_xl_steel_170123A.
After the robot power up, the launch file "summit_xl_complete.launch" in pkg "summit_bringup" will initialize the robot software and hardware if every thing goes right.
But now the file can't finish the initialize procedure and the console keep warning that "RobotnikeBaseHW::WaitToBeReady: Waiting for all motors to get ready".
The INFO in Terminal are shown as followed:
ROS_MASTER_URI=http://summit-170123A:11311

process[summit_xl/robot_state_publisher-1]: started with pid [8635]
process[summit_xl/joy-2]: started with pid [8636]
process[summit_xl/summit_xl_pad-3]: started with pid [8637]
process[summit_xl/robotnik_base_hw-4]: started with pid [8639]
process[summit_xl/controller_spawner-5]: started with pid [8656]
process[summit_xl/twist_mux-6]: started with pid [8668]
process[summit_xl/mavros-7]: started with pid [8679]
process[summit_xl/complementary_filter_node-8]: started with pid [8680]
process[summit_xl/rl_utils-9]: started with pid [8689]
process[summit_xl/rosbridge_websocket-10]: started with pid [8699]
process[summit_xl/rosapi-11]: started with pid [8708]
process[summit_xl/start_recording_server-12]: started with pid [8724]
process[summit_xl_front_laser-13]: started with pid [8737]
process[summit_xl_rear_laser-14]: started with pid [8748]
[ INFO] [1552562369.533821853]: Starting ComplementaryFilterROS
[ INFO] [1552562369.540138841]: RobotnikBaseHW::Setup Port: /dev/pcan_base
[ INFO] [1552562369.587661357]: Opened joystick: /dev/input/js_base. deadzone_: 0.120000.
[ INFO] [1552562369.669910043]: RobotnikBaseHW::loadURDF: Waiting for model URDF on the ROS param server at location: /summit_xl/summit_xl/robot_description
[ INFO] [1552562369.677911497]: FCU URL: /dev/ttyUSB_PX4:921600
[ INFO] [1552562369.678245752]: SummitXLPad num_of_buttons_ = 13, zoom = 0, 2
[ INFO] [1552562369.678295130]: bREG 0
[ INFO] [1552562369.678308936]: bREG 1
[ INFO] [1552562369.678319154]: bREG 2
[ INFO] [1552562369.678335758]: bREG 3
[ INFO] [1552562369.678357531]: bREG 4
[ INFO] [1552562369.678373352]: bREG 5
[ INFO] [1552562369.678385438]: bREG 6
[ INFO] [1552562369.678396481]: bREG 7
[ INFO] [1552562369.678407519]: bREG 8
[ INFO] [1552562369.678418861]: bREG 9
[ INFO] [1552562369.678430665]: bREG 10
[ INFO] [1552562369.678441449]: bREG 11
[ INFO] [1552562369.678452098]: bREG 12
[ INFO] [1552562369.679906695]: serial0: device: /dev/ttyUSB_PX4 @ 921600 bps
[ INFO] [1552562369.680648816]: GCS bridge disabled
[ INFO] [1552562369.685783600]: Plugin 3dr_radio blacklisted
[ INFO] [1552562369.693837924]: Plugin actuator_control loaded
[ INFO] [1552562369.698023865]: Plugin actuator_control initialized
[ INFO] [1552562369.700580929]: Plugin adsb loaded
[ INFO] [1552562369.703811300]: Plugin adsb initialized
[ INFO] [1552562369.703961116]: Plugin altitude loaded
[ INFO] [1552562369.704939099]: Plugin altitude initialized
[ INFO] [1552562369.705009801]: Plugin cam_imu_sync loaded
[ INFO] [1552562369.705484138]: Plugin cam_imu_sync initialized
[ INFO] [1552562369.705569298]: Plugin command loaded
[ INFO] [1552562369.709251725]: Plugin command initialized
[ INFO] [1552562369.709341264]: Plugin debug_value loaded
[ INFO] [1552562369.713217044]: Plugin debug_value initialized
[ INFO] [1552562369.713248529]: Plugin distance_sensor blacklisted
[ INFO] [1552562369.713335685]: Plugin fake_gps loaded
[ INFO] [1552562369.725302320]: Plugin fake_gps initialized
[ INFO] [1552562369.725419515]: Plugin ftp loaded
[ INFO] [1552562369.731183680]: Plugin ftp initialized
[ INFO] [1552562369.731217927]: Plugin global_position blacklisted
[ INFO] [1552562369.731314088]: Plugin hil loaded
[ INFO] [1552562369.745577403]: Plugin hil initialized
[ INFO] [1552562369.745608688]: Plugin home_position blacklisted
[ INFO] [1552562369.745705205]: Plugin imu loaded
[ INFO] [1552562369.752273062]: Plugin imu initialized
[ INFO] [1552562369.752309280]: Plugin local_position blacklisted
[ INFO] [1552562369.752328274]: Plugin manual_control blacklisted
[ INFO] [1552562369.752343698]: Plugin mocap_pose_estimate blacklisted
[ INFO] [1552562369.752416768]: Plugin obstacle_distance loaded
[ INFO] [1552562369.754508098]: Plugin obstacle_distance initialized
[ INFO] [1552562369.754581044]: Plugin odom loaded
[ INFO] [1552562369.758201976]: Connected to network device with intensity and ID: H1642613
registered capabilities (classes):
 - rosbridge_library.capabilities.call_service.CallService
 - rosbridge_library.capabilities.advertise.Advertise
 - rosbridge_library.capabilities.publish.Publish
 - rosbridge_library.capabilities.subscribe.Subscribe
 - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
 - rosbridge_library.capabilities.advertise_service.AdvertiseService
 - rosbridge_library.capabilities.service_response.ServiceResponse
 - rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
[ INFO] [1552562369.762817980]: Plugin odom initialized
[ INFO] [1552562369.762914708]: Plugin param loaded
[ INFO] [1552562369.764880803]: Plugin param initialized
[ INFO] [1552562369.764906703]: Plugin px4flow blacklisted
[ INFO] [1552562369.765000713]: Plugin rangefinder loaded
[ INFO] [1552562369.765646175]: Plugin rangefinder initialized
[ INFO] [1552562369.765668499]: Plugin rc_io blacklisted
[ INFO] [1552562369.765695580]: Plugin safety_area blacklisted
[ INFO] [1552562369.765715838]: Plugin setpoint_accel blacklisted
[ INFO] [1552562369.765734732]: Plugin setpoint_attitude blacklisted
[ INFO] [1552562369.765752092]: Plugin setpoint_position blacklisted
[ INFO] [1552562369.765770269]: Plugin setpoint_raw blacklisted
[ INFO] [1552562369.765787273]: Plugin setpoint_velocity blacklisted
[ INFO] [1552562369.765840398]: Plugin sys_status blacklisted
[ INFO] [1552562369.765858288]: Plugin sys_time blacklisted
[ INFO] [1552562369.765940215]: Plugin trajectory loaded
[ INFO] [1552562369.771925257]: Plugin trajectory initialized
[ INFO] [1552562369.772072878]: Plugin vfr_hud loaded
[ INFO] [1552562369.772756563]: Plugin vfr_hud initialized
[ INFO] [1552562369.772763066]: RobotnikBaseHW::Constructor:Configuring 4 joints 
[ INFO] [1552562369.772777463]: Plugin vibration blacklisted
[ INFO] [1552562369.772849333]: RobotnikBaseHW::Constructor:Configuring Vel summit_xl_front_left_wheel_joint joint 
[ INFO] [1552562369.772863751]: Plugin vision_pose_estimate loaded
[ INFO] [1552562369.772877714]: RobotnikBaseHW::Constructor:Configuring Vel summit_xl_back_left_wheel_joint joint 
[ INFO] [1552562369.772898698]: RobotnikBaseHW::Constructor:Configuring Vel summit_xl_front_right_wheel_joint joint 
[ INFO] [1552562369.772915887]: RobotnikBaseHW::Constructor:Configuring Vel summit_xl_back_right_wheel_joint joint 
[ INFO] [1552562369.773018280]: MotorVelocity 1: Node 1: dMps2Ref:362597.880064, dRps2Ref:39885.766807, dMotorWheelDiameter:0.220000,Pi:3.141593,dCountsPerRev:4000.000000,gearbox:9.560000, SPEED_SCALE_FACTOR:6.553600, MotorEncoder:1, spin:1.000000 
[ INFO] [1552562369.773051055]: MotorVelocity 2: Node 2: dMps2Ref:362597.880064, dRps2Ref:39885.766807, dMotorWheelDiameter:0.220000,Pi:3.141593,dCountsPerRev:4000.000000,gearbox:9.560000, SPEED_SCALE_FACTOR:6.553600, MotorEncoder:1, spin:1.000000 
[ INFO] [1552562369.773078920]: MotorVelocity 3: Node 3: dMps2Ref:362597.880064, dRps2Ref:39885.766807, dMotorWheelDiameter:0.220000,Pi:3.141593,dCountsPerRev:4000.000000,gearbox:9.560000, SPEED_SCALE_FACTOR:6.553600, MotorEncoder:1, spin:-1.000000 
[ INFO] [1552562369.773104510]: MotorVelocity 4: Node 4: dMps2Ref:362597.880064, dRps2Ref:39885.766807, dMotorWheelDiameter:0.220000,Pi:3.141593,dCountsPerRev:4000.000000,gearbox:9.560000, SPEED_SCALE_FACTOR:6.553600, MotorEncoder:1, spin:-1.000000 
[ INFO] [1552562369.773288062]: RobotnikBaseHW::Constructor:Configured 4 Velocity Joints 0 Position Joints
[ INFO] [1552562369.795005830]: Plugin vision_pose_estimate initialized
[ INFO] [1552562369.795139353]: Plugin vision_speed_estimate loaded
[ INFO] [1552562369.801121601]: Streaming data.
[ INFO] [1552562369.805295052]: Plugin vision_speed_estimate initialized
[ INFO] [1552562369.805323669]: Plugin waypoint blacklisted
[ INFO] [1552562369.805402968]: Plugin wind_estimation loaded
[ INFO] [1552562369.807345834]: Plugin wind_estimation initialized
[ INFO] [1552562369.807375632]: Autostarting mavlink via USB on PX4
[ INFO] [1552562369.807397312]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1552562369.807407060]: Built-in MAVLink package version: 2018.6.6
[ INFO] [1552562369.807419078]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1552562369.807430095]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[WARN] [1552562369.810367]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1552562369.810555]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1552562369.820858156]: IMU: High resolution IMU detected!
[ INFO] [1552562369.821843542]: IMU: Attitude quaternion IMU detected!
[ INFO] [1552562369.867449608]: PCan::Open: driver version = Release_20150729_n

[ INFO] [1552562369.867526755]: PCan::Open: Opened successfully
[ INFO] [1552562369.979394852]: PCan::Configure: Configured successfully
[ INFO] [1552562369.979431329]: MotorVelocity 1::ResetCANCommunication: Reseting com for node 1
Web server started.
[ INFO] [1552562370.000030986]: MotorVelocity 1::ConfigureCANMsgs: Node 1: Velocity 
[INFO] [1552562370.008300]: Rosbridge WebSocket server started on port 9090
[ INFO] [1552562370.018776953]: MotorVelocity 1::StartCANCommunication: starting com for node 1
[ INFO] [1552562370.018812371]: MotorVelocity 1::ConfigureUserMsgs: Node 1: NOT USING YAML PARAMS FOR DRIVER
[ INFO] [1552562370.018844109]: RobotnikBaseHW::Setup: Setup of velocity controlled motor with ID 1 for joint summit_xl_front_left_wheel_joint
[ INFO] [1552562370.018861461]: MotorVelocity 2::ResetCANCommunication: Reseting com for node 2
[ INFO] [1552562370.045579297]: MotorVelocity 2::ConfigureCANMsgs: Node 2: Velocity 
[ INFO] [1552562370.064229222]: MotorVelocity 2::StartCANCommunication: starting com for node 2
[ INFO] [1552562370.064263179]: MotorVelocity 2::ConfigureUserMsgs: Node 2: NOT USING YAML PARAMS FOR DRIVER
[ INFO] [1552562370.064292848]: RobotnikBaseHW::Setup: Setup of velocity controlled motor with ID 2 for joint summit_xl_back_left_wheel_joint
[ INFO] [1552562370.064306897]: MotorVelocity 3::ResetCANCommunication: Reseting com for node 3
[ INFO] [1552562370.091018689]: MotorVelocity 3::ConfigureCANMsgs: Node 3: Velocity 
[ INFO] [1552562370.109879573]: MotorVelocity 3::StartCANCommunication: starting com for node 3
[ INFO] [1552562370.109896951]: MotorVelocity 3::ConfigureUserMsgs: Node 3: NOT USING YAML PARAMS FOR DRIVER
[ INFO] [1552562370.109908831]: RobotnikBaseHW::Setup: Setup of velocity controlled motor with ID 3 for joint summit_xl_front_right_wheel_joint
[ INFO] [1552562370.109920024]: MotorVelocity 4::ResetCANCommunication: Reseting com for node 4
[ INFO] [1552562370.136711177]: MotorVelocity 4::ConfigureCANMsgs: Node 4: Velocity 
[ INFO] [1552562370.155595822]: MotorVelocity 4::StartCANCommunication: starting com for node 4
[ INFO] [1552562370.155624839]: MotorVelocity 4::ConfigureUserMsgs: Node 4: NOT USING YAML PARAMS FOR DRIVER
[ INFO] [1552562370.155639697]: RobotnikBaseHW::Setup: Setup of velocity controlled motor with ID 4 for joint summit_xl_back_right_wheel_joint
[ INFO] [1552562370.155657301]: RobotnikBaseHW::Setup: Hardware Interface setted up
[ WARN] [1552562370.155670419]: RobotnikBaseHW::Stop: Hardware Interface already stopped
[ INFO] [1552562370.155776833]: RobotnikBaseHW::Start: Started velocity controlled motor with ID 1 for joint summit_xl_front_left_wheel_joint
[ INFO] [1552562370.155801707]: MotorVelocity 1::ControlCommunicationThread: Node 1: Executing thread (25, 5.000000)
[ INFO] [1552562370.155831751]: MotorVelocity 1::ControlCommunicationThread: Node 1: Starting the thread
[ INFO] [1552562370.155942321]: RobotnikBaseHW::Start: Started velocity controlled motor with ID 2 for joint summit_xl_back_left_wheel_joint
[ INFO] [1552562370.156018839]: MotorVelocity 2::ControlCommunicationThread: Node 2: Executing thread (25, 5.000000)
[ INFO] [1552562370.156039954]: MotorVelocity 2::ControlCommunicationThread: Node 2: Starting the thread
[ INFO] [1552562370.156060394]: RobotnikBaseHW::Start: Started velocity controlled motor with ID 3 for joint summit_xl_front_right_wheel_joint
[ INFO] [1552562370.156123364]: MotorVelocity 3::ControlCommunicationThread: Node 3: Executing thread (25, 5.000000)
[ INFO] [1552562370.156156295]: MotorVelocity 3::ControlCommunicationThread: Node 3: Starting the thread
[ INFO] [1552562370.156273831]: MotorVelocity 4::ControlCommunicationThread: Node 4: Executing thread (25, 5.000000)
[ INFO] [1552562370.156294011]: MotorVelocity 4::ControlCommunicationThread: Node 4: Starting the thread
[ INFO] [1552562370.156313907]: RobotnikBaseHW::Start: Started velocity controlled motor with ID 4 for joint summit_xl_back_right_wheel_joint
[ INFO] [1552562370.256464142]: RobotnikBaseHW::Start: Hardware Interface started
[ WARN] [1552562370.290044647]: RobotnikBaseHW::WaitToBeReady: Waiting for all motors to get ready...
[INFO] [1552562370.413825]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1552562370.414900]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1552562370.415843]: Loading controller: summit_xl_control
[ INFO] [1552562370.448493927]: summit_xl_controller::initController: everything is OK!
[INFO] [1552562370.449006]: Loading controller: joint_read_state_controller
[INFO] [1552562370.452671]: Controller Spawner: Loaded controllers: summit_xl_control, joint_read_state_controller
[ INFO] [1552562371.155833990]: MotorVelocity 1::StartCANCommunication: starting com for node 1
[ INFO] [1552562371.155935310]: MotorVelocity 2::StartCANCommunication: starting com for node 2
[ INFO] [1552562371.156030481]: MotorVelocity 3::StartCANCommunication: starting com for node 3
[ INFO] [1552562371.156176175]: MotorVelocity 4::StartCANCommunication: starting com for node 4
[ INFO] [1552562371.290120930]: MotorVelocity 1::ChangeCommunicationStatus: Node 1: comm status changed to OPERATIONAL
[ INFO] [1552562371.290169985]: MotorVelocity 2::ChangeCommunicationStatus: Node 2: comm status changed to OPERATIONAL
[ INFO] [1552562371.290190808]: MotorVelocity 3::ChangeCommunicationStatus: Node 3: comm status changed to OPERATIONAL
[ INFO] [1552562371.290207709]: MotorVelocity 4::ChangeCommunicationStatus: Node 4: comm status changed to OPERATIONAL
[ INFO] [1552562371.552028616]: Connected to serial device with ID: H1626219
[ INFO] [1552562372.290099218]: MotorVelocity 2::SwitchToStatus: Node 2: Drive status changed to FAULT
[ INFO] [1552562372.290126333]: MotorVelocity 1::SwitchToStatus: Node 1: Drive status changed to FAULT
[ INFO] [1552562372.290138780]: MotorVelocity 3::SwitchToStatus: Node 3: Drive status changed to FAULT
[ INFO] [1552562372.290149868]: MotorVelocity 4::SwitchToStatus: Node 4: Drive status changed to FAULT
[ INFO] [1552562372.658740413]: Streaming data.
[ WARN] [1552562375.290106497]: RobotnikBaseHW::WaitToBeReady: Waiting for all motors to get ready...
[ WARN] [1552562380.490105669]: RobotnikBaseHW::WaitToBeReady: Waiting for all motors to get ready...
[ WARN] [1552562385.490110439]: RobotnikBaseHW::WaitToBeReady: Waiting for all motors to get ready...
[ WARN] [1552562390.490136082]: RobotnikBaseHW::WaitToBeReady: Waiting for all motors to get ready...
[ WARN] [1552562395.690125883]: RobotnikBaseHW::WaitToBeReady: Waiting for all motors to get ready...
[ WARN] [1552562400.690106908]: RobotnikBaseHW::WaitToBeReady: Waiting for all motors to get ready...
[ WARN] [1552562405.690129367]: RobotnikBaseHW::WaitToBeReady: Waiting for all motors to get ready...
[ WARN] [1552562410.690138737]: RobotnikBaseHW::WaitToBeReady: Waiting for all motors to get ready...
I think maybe the PC on robot can't connect to motors by serial port?
I had used the usb port behind the robot to received UART serial message. Maybe this is the reason to cause such problem?
Hoping for advise to solve this.
RobotnikAutomation / robotnik_base_hw

robotnik_base_hw keep waiting for motors ready #6
