Switching between JTC and JGVC fails

[floweisshardt]

Error description:
Switching from JTC to JGVC works, I can move sending velocities. Swithcing back to JTC does not work. controller manager says switching ok (JGVC stoppend and JTC running) but no movement is possible.
The state topic reports that the actual pos is static while the JTC tried to move setting the desired pos.

Occurance(s) (when? Which hardware? How often?):
always
cob4-2 arms

How to reproduce the error:

• bringup
• init
• move JTC (e.g. through dashboard) --> works
• move JGVC (e.g. through rqt or rostopic pub std_msgs/Float64MultiArray /arm_left/joint_group_velocity_controller/command) --> works for Schunk, does not work for Elmo (see log below)
• move JTC (e.g. through dashboard) --> does not work

multiple calls to recover solve the error --> can move JTC again

[floweisshardt]

log for Elmo:

[ INFO] [1416563035.743507660]: Successfully switched to velocity_controllers
abort6060#0, reason: General error
[ERROR] [1416563035.744043261]: /u/fmw/git/care-o-bot/src/ros_canopen/ipa_canopen_master/src/sdo.cpp(412): Throw in function void ipa_canopen::SDOClient::wait_for_response()
Dynamic exception type: boost::exception_detail::clone_implboost::exception_detail::error_info_injector<ipa_canopen::TimeoutException >
std::exception::what: std::exception

abort6060#0, reason: General error
abort6060#0, reason: General error
[New Thread 0x7fffab196700 (LWP 20467)]
[Thread 0x7fffc57fa700 (LWP 20450) exited]
[ERROR] [1416563036.751919816]: /u/fmw/git/care-o-bot/src/ros_canopen/ipa_canopen_master/src/pdo.cpp(270): Throw in function void ipa_canopen::PDOMapper::RPDO::sync()
Dynamic exception type: boost::exception_detail::clone_implboost::exception_detail::error_info_injector<ipa_canopen::TimeoutException >
std::exception::what: std::exception

[ERROR] [1416563037.757638778]: /u/fmw/git/care-o-bot/src/ros_canopen/ipa_canopen_master/src/pdo.cpp(270): Throw in function void ipa_canopen::PDOMapper::RPDO::sync()
Dynamic exception type: boost::exception_detail::clone_implboost::exception_detail::error_info_injector<ipa_canopen::TimeoutException >
std::exception::what: std::exception

[floweisshardt]

solved with blocking switch. see floweisshardt@7b0b44a