Problem running ros_canopen with Maxon Epos MCD on ROS Kinetic/Melodic

[mateusnazarioc]

Hello, guys. I'm having some trouble to make a maxon epos mcd run with ros_canopen. This is the message I'm getting after calling rosservice call /driver/init:

message: "Throw location unknown (consider using BOOST_THROW_EXCEPTION)\nDynamic exception\ \ type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error>\ \ >\nstd::exception::what: boost: mutex lock failed in pthread_mutex_lock: Invalid\ \ argument\n"

And on the terminal running the launch of the motor package:

[ INFO] [1564769826.681253464]: Initializing XXX
[ INFO] [1564769826.681691270]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1564769826.682070706]: Current state: 2 device error: system:0 internal_error: 0 (OK)
[ INFO] [1564769828.696488560]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ INFO] [1564769828.696705157]: Current state: 0 device error: system:0 internal_error: 0 (OK)

This is my currently .yaml:

bus:
  device: can0

sync:
  interval_ms: 10
  overflow: 0
  heartbeat: # simple heartbeat producer, optional!
  rate: 20 # heartbeat rate

nodes:
  node1:
    id: 1 
    eds_pkg: eposmcd
    eds_file: eds/eposmcd.eds

defaults: # optional, all defaults can be overwritten per node
    motor_allocator: canopen::Motor402::Allocator # select allocator for motor layer
    motor_layer: #settings passed to motor layer (plugin-specific)
      switching_state: 3 # (Operation_Enable), state for mode switching
    pos_to_device: "rint(rad2deg(pos)*1000)" # rad -> mdeg
    pos_from_device: "deg2rad(obj6064)/1000" # actual position [mdeg] -> rad
    vel_to_device: "rint(rad2deg(vel)*1000)" # rad/s -> mdeg/s
    vel_from_device: "deg2rad(obj606C)/1000" # actual velocity [mdeg/s] -> rad/s
    eff_to_device: "rint(eff)" # just round to integer
    eff_from_device: "0" # unset

I'm attaching the .eds used. eposmcd.txt __ Thx!

[mathias-luedtke]

Thanks for reporting! This exception should not occur..

Which version of ros_canopen are you using? A candump would be very helpful to isolate the underlying problem..

[mateusnazarioc]

I've had some improvements, but can't get past the actual problem. I'm getting this error on the terminal running the motor_node.launch: abort60ff#0, reason: Invalid value for parameter (download only). Could not process message This is my motor_node.launch: `

<param name="robot_description" textfile="$(find eposmcd_control)/config/urdf.xml"/>

<node name="canopen_motor_node" pkg="canopen_motor_node" type="canopen_motor_node" 
  output="screen" ns="/eposmcd" respawn= "true" clear_params="true" >
    <rosparam command="load" file="$(find eposmcd_control)/config/canopen.yaml" />
</node>

`

---

All of this happens after calling the _motornode.launch, then doing /driver/init and trying to publish on the topic _/eposmcd/joint1_velocity_controller/command stdmsgs/Float64 "data: 1000.0" after calling the controller.launch.

This is the controller.launch:

<launch>

  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find eposmcd_control)/config/eposmcd.yaml" command="load"/>

  <!-- load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/eposmcd" args="joint1_velocity_controller joint_state_controller"/>

  <!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
    respawn="false" output="screen">
    <remap from="/joint_states" to="/eposmcd/joint_states" />
  </node>

</launch>

And now my updated canopen.yaml:

bus:
  device: can0

sync:
  interval_ms: 10
  overflow: 0
  heartbeat:
    rate: 500

nodes:
  node1:
    id: 1
    eds_pkg: eposmcd_control
    eds_file: eds/eposmcd.eds

defaults: # optional, all defaults can be overwritten per node
    motor_allocator: canopen::Motor402::Allocator # select allocator for motor layer
    motor_layer: #settings passed to motor layer (plugin-specific)
      switching_state: 2 # (Operation_Enable), state for mode switching
    pos_to_device: "rint(rad2deg(pos)*1000)" # rad -> mdeg
    pos_from_device: "deg2rad(obj6064)/1000" # actual position [mdeg] -> rad
    vel_to_device: "rint(rad2deg(vel)*1000)" # rad/s -> mdeg/s
    vel_from_device: "deg2rad(obj606C)/1000" # actual velocity [mdeg/s] -> rad/s
    eff_to_device: "rint(eff)" # just round to integer
    eff_from_device: "1" # unset

And my eposmcd.yaml:

eposmcd:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  

  # Position Controllers ---------------------------------------
  joint1_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: node1
    pid: {p: 100.0, i: 0.01, d: 10.0}
    required_drive_mode: 3

---

I'm attaching a print of all terminals running, including a candump of the port. Thx!

[mathias-luedtke]

I've had some improvements, but can't get past the actual problem.

What did you change?

I'm attaching a print of all terminals running, including a candump of the port.

Thanks, but I really meant an actual text file, which could get examined properly..

heartbeat: rate: 500

This would be way too high! But it is not used anyway, because it is listed in the sync block.

abort60ff#0, reason: Invalid value for parameter (download only). Could not process message

Are you sure that you set-up the user units properly? The default is milli degrees, so you would be commanding 57295779

Instead of commanding 1000.0 (in rad!), I would start with something simpler, like 0.0.

#Position Controllers ---------------------------------------

But you specify a velocity controller..