youbot在ROS中啓動youbot_driver_ros_interface中遇到下面的報錯：
[ INFO] [1480844087.022008325]: 9 EtherCAT slaves found
[ INFO] [1480844087.035314211]: BaseLeftFrontController Type: 1610 Firmware version: 200[FATAL] [1480844087.035799218]: The youBot base motor controller have to be of type: 174 or 1632
[ERROR] [1480844087.035956943]: Base "youbot-base" could not be initialized.
[ INFO] [1480844087.039119502]: arm_joint_1 Controller Type: 1610 Firmware version: 200
[ INFO] [1480844087.041637026]: arm_joint_2 Controller Type: 1632 Firmware version: 200
[FATAL] [1480844087.041866339]: The youBot manipulator motor controller have to be of type: 841 or 1610
[ERROR] [1480844087.041934843]: Arm "youbot-manipulator" could not be initialized.
[ INFO] [1480844087.041985477]: System has 0 initialized arm(s).
[youbot_driver-2] process has died [pid 18298, exit code -11, cmd /home/qingdu/catkin_ws/devel/lib/youbot_driver_ros_interface/youbot_driver_ros_interface base/joint_states:=joint_states arm_1/joint_states:=joint_states __name:=youbot_driver __log:=/home/qingdu/.ros/log/e46367ea-ba04-11e6-8bda-c80aa9f73691/youbot_driver-2.log].
log file: /home/qingdu/.ros/log/e46367ea-ba04-11e6-8bda-c80aa9f73691/youbot_driver-2*.log
我在網上也搜很久，官網上的辦法也不能解決我這個問題，youbot官網http://www.youbot-store.com/wiki/index.php/The_youBot_base_motor_controller_have_to_be_of_type:_174_or_1632
我也不停的更換youbot_driver和youbot_driver_ros_interface，但是都不能解決，這個問題我連續搞了好幾天，突然有一天，我無聊的去交換一下youbot機械臂下面的ethcat接口，TMD，居然驅動啓動正常了，之前我把鏈接電腦的網線插在機械臂下面的ethercat2上就報上面的錯，後來我把它插回ethercat1那個孔，把底座鏈接機械臂的網線插在ethercat2就OK了。
