Error connecting to the hand

[andrestoga]

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!

[RomanRobotnik]

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,

[andrestoga]

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,

[andrestoga]

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,

[RomanRobotnik]

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

[andrestoga]

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,