Sawyer Electric Gripper working in Intera but not in SDK mode

[mjpark]

Might be related to this

http://rethinkrobotics.interaforum.com/topic/487-gripper-cant-be-initialized-example-code-error-reported/

but have not been able to resolve this.

I can ping and connect to the robot via my workstation.  I can enable the robot and have moved it with the keyboard example.  However, it complains about the electric gripper:

[intera - http://10.10.10.10:11311] mjpark@mjpark-HP-Z440-Workstation ~/ros_ws/src/intera_sdk/intera_interface/src/intera_interface(release-5.1.0)$ rosrun intera_examples gripper_keyboard.py
Initializing node... 
Getting robot state...
Traceback (most recent call last):
  File "/home/mjpark/ros_ws/src/intera_sdk/intera_examples/scripts/gripper_keyboard.py", line 127, in <module>
    main()
  File "/home/mjpark/ros_ws/src/intera_sdk/intera_examples/scripts/gripper_keyboard.py", line 123, in main
    map_keyboard(args.limb)
  File "/home/mjpark/ros_ws/src/intera_sdk/intera_examples/scripts/gripper_keyboard.py", line 34, in map_keyboard
    gripper = intera_interface.Gripper(limb)
  File "/home/mjpark/ros_ws/src/intera_sdk/intera_interface/src/intera_interface/gripper.py", line 47, in __init__
    timeout_msg=("Failed to get gripper. No gripper attached on the robot.")
  File "/home/mjpark/ros_ws/src/intera_sdk/intera_interface/src/intera_dataflow/wait_for.py", line 42, in wait_for
    raise OSError(errno.ETIMEDOUT, timeout_msg)
OSError: [Errno 110] Failed to get gripper. No gripper attached on the robot.
[intera - http://10.10.10.10:11311] mjpark@mjpark-HP-Z440-Workstation ~/ros_ws/src/intera_sdk/intera_interface/src/intera_interface(release-5.1.0)$ rosrun intera_examples gripper_joystick.py -j logitech
Initializing node... 
Getting robot state... 
Traceback (most recent call last):
  File "/home/mjpark/ros_ws/src/intera_sdk/intera_examples/scripts/gripper_joystick.py", line 177, in <module>
    main()
  File "/home/mjpark/ros_ws/src/intera_sdk/intera_examples/scripts/gripper_joystick.py", line 173, in main
    map_joystick(joystick, args.limb)
  File "/home/mjpark/ros_ws/src/intera_sdk/intera_examples/scripts/gripper_joystick.py", line 38, in map_joystick
    gripper = intera_interface.Gripper(limb)
  File "/home/mjpark/ros_ws/src/intera_sdk/intera_interface/src/intera_interface/gripper.py", line 47, in __init__
    timeout_msg=("Failed to get gripper. No gripper attached on the robot.")
  File "/home/mjpark/ros_ws/src/intera_sdk/intera_interface/src/intera_dataflow/wait_for.py", line 42, in wait_for
    raise OSError(errno.ETIMEDOUT, timeout_msg)
OSError: [Errno 110] Failed to get gripper. No gripper attached on the robot.

 

I am running on the 5.1 Intera branch to match the (latest) running version on the Sawyer.  I know that the grippers physically work because when I boot in to regular Intera mode, after Initialization, it asks to calibrate the grippers and I see them actuate during calibration.  I have also done a simple pick and place with the Intera UI.  However, in SDK it throws the above errors.

Any ideas on how to resolve this?

[Ian McMahon]

Hi Mjpark,

For this issue, can you please export the logfiles from your Sawyer through the FSM and link them to support@rethinkrobotics.com? That way we can see what is going at the IO connection for the end effector.

Thank you,
~ Ian

[mjpark]

Ok, thanks.  Will do asap.