Barrett WAM FAQ

• (1) The WAM is making strange grinding noises.
  • Try turning it off and on twice.
  • If that doesn't work, try running one of the example programs (./ex03-simple-move) in the libbarrett examples directory to move the robot to the home position. Then, try running your code.

• (2) I don't know how to zero the WAM.
  • Follow the sticker alignment specified in the diagrams in step 4 of the mech operation page.

• (3) The libbarrett code segfaults
  • The CAN interface is down. Run the following in terminal:
    • sudo ifconfig can0 up
    • sudo ifconfig can1 up

• (4) The libbarett.git submodule in the code crashes Eclipse
  • Eclipse can't index all the boost libraries in the 3rdparty/libbarrett.git folder
  • You will have to manually disable the indexer and/or remove the libbarrett.git folder from the indexing scheme

Screenshots describing how to fix the above problem (4):