Errors when using package

RobotIQ hand errors

RobotIQ hand won't move

Solution: Use runtime monitor to view diagnostics for robotIQ hand. Most error can be cleared by running resetting motors. Motors can be reset with dashboard or through command line:

• rosrun pr2_etherCAT reset_motors.py

pr2_etherCAT (realtime_loop) errors

Fatal : Cannot goto state 4

Example: pr2_etherCAT prints the following message then exits:

• [FATAL] [1320906370.087105372]: Cannot goto state 4 for slave #0, product code: 11 (0xB), serial: 0 (0x0), revision: 0 (0x0)

Solution: Problems is caused by running old release of RIQ hand driver. Old release does not properly enable ECat Events needed by device.

1. Get newer release of RIQ Hand >= 0.1.2 .

2. Power cycle hand, before running hand again

Error: plugin does not exist for product code: 11

Example: pr2_etherCAT gives the message:

• [FATAL] [1296594157.363589591]: Unable to load plugin for slave #0, product code: 11 (0xB), serial: 0 (0x0), revision: 0 (0x0)
  [FATAL] [1296594157.363790612]: According to the loaded plugin descriptions the class 11 with base class type EthercatDevice does not exist. Declared types are  6805005 6805006 6805014 6805021 73542738
  [FATAL] [1296594157.363852851]: Unable to configure slave #0

Solution: pr2_etherCAT uses EtherCAT device product ID (11 for RIQ hand) to find plugin for device. In this case plugin can't be found. Make sure riq_hand_ethercat_hardware is on ROS_PACKAGE_PATH.

• rospack find riq_hand_ethercat_hardware

You should see something like:

• /home/username/ros/riq_hand/riq_hand_ethercat_hardware

Also make sure plugin is found:

• rospack plugins --attrib=plugin ethercat_hardware

You should see at least:

• riq_hand_ethercat_hardware
• ethercat_hardware

  riq_hand_ethercat_hardware /home/username/ros/riq_hand/riq_hand_ethercat_hardware/ethercat_device_plugin.xml
  ethercat_hardware /home/username/ros/pr2_ethercat_drivers/ethercat_hardware/ethercat_device_plugin.xml