Is there need to change the can0.yaml depend on the different can devices?

[ipa320]

Is there need to change the can0.yaml depend on the different can devices?

[destogl]

Yes you should do this.

After that just start roslaunch schunk_lwa4d robot.launch

[changzhengwu]

Dear sir
My manipultor is schunk lwa4d, and my can device is pcan-usb x6,
My steps are:

1. power on
2. connect can device and start the can driver
3. roslaunch schunk_lwa4d robot .launch
4. roslaunch schunjk_lwa4d dashbord.launch

the error like this

waitForService:Service [/arm/controller_manager/load_controller] has not been advertised, waiting... Initializing XXX

[ INFO] [1507948971.101843868]: Current state: 1 device error: system:0 internal_error: 0 (OK)

[ INFO] [1507948971.102038180]: Current state: 2 device error: system:0 internal_error: 0 (OK)
[ INFO] [1507948971.102229033]: Current state: 2 device error: system:100 internal_error: 0 (OK)
[ INFO] [1507948971.102358100]: Current state: 1 device error: system:100 internal_error: 0 (OK)
[ERROR] [1507948971.112391534]: CAN not ready

what should i do to handle this error?
@destogl