I am currently trying to control the Sawyer using the Intera SDK(v.5.3). I am able to ping the Robots IP and its *.local hostname. I am also able to communicate with the ROS Master. This means i can read pretty much all the data(angles, force, effort etc.).
My Problem is, that i cant send action commands to the robot. For example: I can read the state of the robot using "rosrun intera_interface enable_robot.py -s" and I get the following response:
If I now try to disable the robot using "rosrun intera_interface enable_robot.py -d" I get an error and nothing happens. The same occurs when I try to start intera_examples like head_wobbler.py, lights_blink.py etc.. When trying to move the robot using the python shell the robot doesn't move, but there is no error message. (I can confirm, that the the functions are writing data in their respective topic, for example: "limb.move_to_joint_positions()" function is writing data to the </robot/limb/right/joint_command>-topic.)
I looked intro the source code and all of those errors come from timeouts. (In the "limb.move_to_joint_positions()" function a timeout happens, but it is not raised)
Does anybody have an idea what could cause this?
Cheers and many thanks