Error openning port /dev/pcanusb0

[rshum19]

Hi,

I've gone through the process of installing all the software as indicated. When I try launching the controller by

$ roslaunch bhand_controller bhand_controller.launch

I get the following error message:

$ PCANBasic::Initialize: Error openning port /dev/pcanusb0
$ [ERROR] [WallTime: 1547855016.331639] /bhand_node: Error initializing the hand

Any suggestion why I can't open the port? Are there any udev rules that need to be set?

[danielvenuto98]

Hello,

I am having the same problem and I was wondering If you were able to fix it.

Thanks

[danielvenuto98]

I have found a solution to this problem. You need to go into the launch file and change the port value from "/dev/pcanusb0" to "/dev/pcanusb32". The launch file is located in /ros_catkin_ws/src/barrett_hand/bhand_controller/launch

[svarnypetr]

I have the same error, but with the /dev/pcansub32 is there any systematic solution or explanation to this?

[svarnypetr]

I think this issue is solved, the reason for the above is mentioned in the PCAN manual. The number corresponds to the device you are using to connect to the bus. The numbering mentioned here: pcan0 is for PCAN - PCI while pcan32 is for PCAN - USB.

After the correction (and making sure the driver for PCAN works, e.g. by trying to run it by sudo modprobe pcan) there is no more error for not being able to open the port.

[danielvenuto98]

Hello,

Were you able to fix the problem?

[svarnypetr]

Yes, multiple issues in my case - PCAN driver was not working correctly and I was connected to the wrong port on the hand. Hand works now nicely.

[MohamadHalwani]

Hi,
which peak driver are you using ?
I tried 7.12 but I'm getting this error when trying to do "make NET=NO_NETDEV_SUPPORT"

In file included from /lib/modules/4.15.0-107-generic/build/include/linux/kernel.h:7:0,
                 from /lib/modules/4.15.0-107-generic/build/include/linux/list.h:9,
                 from /lib/modules/4.15.0-107-generic/build/include/linux/module.h:9,
                 from ./src/pcan_common.h:53,
                 from src/pcan_main.c:45:
/lib/modules/4.15.0-107-generic/build/include/linux/linkage.h:8:25: fatal error: asm/linkage.h: No such file or directory
compilation terminated.
<builtin>: recipe for target 'src/pcan_main.o' failed
make[1]: *** [src/pcan_main.o] Error 1

When I tried a newer version of the library (8.6) the make goes with no problems but I start getting the same error you are facing in this issue !
Any ideas, appreciated :)

[svarnypetr]

@MohamadHalwani Sorry, but I do not have access to the lab and thus hand currently so can't check or try.

[MohamadHalwani]

@svarnypetr No worries, if things changed I would appreciate your help. Thanks

[RomanRobotnik]

Probably the version 7.12 does not work with your current kernel. Please try newer versions of the library. Initially you should not find any issue related to the Peak library if it's compiles and install correctly.

[MohamadHalwani]

@RomanRobotnik , Thanks for your reply.
I installed the newest version of the library (8.10.2) and compiled using (make NET=NO_NETDEV_SUPPORT), I got no errors so I assume it compiled correctly
Then I ran (make and sudo make install) and got no errors also.
Now, I can't find the module under usr/lib (I searched for pcan and couldn't find it) I don't know if I did anything wrong !
When I try launching the controller(roslaunch bhand_controller bhand_controller.launch)
I get Error openning port /dev/pcanusb32

I appreciate your support

[RomanRobotnik]

Can you try this?

1- Load the module:

sudo modprobe pcan

2- Check it's loaded:

lsmod | grep pcan

3- Check the device is created when you plug the Peak CAN converted in your pc:

ls /dev/pcanXXX (where XXX can be 32 or USB0)

4- Check that the peakcan module is compiled to be used with NO NETDEV SUPPORT:

cat /proc/pcan

You should see: -NA- under ndev

*------------- PEAK-System CAN interfaces (www.peak-system.com) -------------
*-------------------------- Release_20120319_n (7.5.0) ----------------------
*---------------- [mod] [isa] [pci] [dng] [par] [usb] [pcc] -----------------
*--------------------- 1 interfaces @ major 250 found -----------------------
*n -type- ndev --base-- irq --btr- --read-- --write- --irqs-- -errors- status
32    usb -NA- ffffffff 255 0x0014 00000005 00000034 00000168 00000075 0x000c

[MohamadHalwani]

It seems that I have an issue
When I try
sudo modprobe pcan
I'm getting this

modprobe: ERROR: could not insert 'pcan': Required key not available
modprobe: ERROR: ../libkmod/libkmod-module.c:977 command_do() Error running install command for pcan
modprobe: ERROR: could not insert 'pcan': Operation not permitted

[MohamadHalwani]

To double check,
I first run make clean:

rm -fv ./build/*.o
removed './build/pcan_module.o'
removed './build/pcan_module_wrap.o'
rm -fv ./lib/_pcan_module.so
removed './lib/_pcan_module.so'
rm ./pcan_python/pcan_module.py ./src/pcan_module_wrap.c

then make:

mkdir -p ./build/
gcc -c -fpic  -I/usr/include/python2.7 -I/usr/include -o ./build/pcan_module.o ./src/pcan_module.c
mkdir -p ./build/
swig -python -I/usr/include/python2.7 -I/usr/include -o ./src/pcan_module_wrap.c -outdir ./pcan_python/ ./src/pcan_module.i 
gcc -c -fpic  -I/usr/include/python2.7 -I/usr/include -o ./build/pcan_module_wrap.o ./src/pcan_module_wrap.c
mkdir -p ./lib/
ld -share	 -lpcan ./build/pcan_module.o ./build/pcan_module_wrap.o -o ./lib/_pcan_module.so

Then sudo make install:

make;
make[1]: Entering directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/pcan_python'
make[1]: Nothing to be done for 'default'.
make[1]: Leaving directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/pcan_python'
cp ./lib/_pcan_module.so /usr/lib;
python setup.py install
/usr/lib/python2.7/dist-packages/setuptools/dist.py:285: UserWarning: Normalizing '0.1dev' to '0.1.dev0'
  normalized_version,
running install
running bdist_egg
running egg_info
writing pcan_python.egg-info/PKG-INFO
writing top-level names to pcan_python.egg-info/top_level.txt
writing dependency_links to pcan_python.egg-info/dependency_links.txt
reading manifest file 'pcan_python.egg-info/SOURCES.txt'
writing manifest file 'pcan_python.egg-info/SOURCES.txt'
installing library code to build/bdist.linux-x86_64/egg
running install_lib
running build_py
copying pcan_python/pcan_module.py -> build/lib.linux-x86_64-2.7/pcan_python
creating build/bdist.linux-x86_64/egg
creating build/bdist.linux-x86_64/egg/pcan_python
copying build/lib.linux-x86_64-2.7/pcan_python/__init__.py -> build/bdist.linux-x86_64/egg/pcan_python
copying build/lib.linux-x86_64-2.7/pcan_python/pcan_library.py -> build/bdist.linux-x86_64/egg/pcan_python
copying build/lib.linux-x86_64-2.7/pcan_python/pcan_module.py -> build/bdist.linux-x86_64/egg/pcan_python
byte-compiling build/bdist.linux-x86_64/egg/pcan_python/__init__.py to __init__.pyc
byte-compiling build/bdist.linux-x86_64/egg/pcan_python/pcan_library.py to pcan_library.pyc
byte-compiling build/bdist.linux-x86_64/egg/pcan_python/pcan_module.py to pcan_module.pyc
creating build/bdist.linux-x86_64/egg/EGG-INFO
copying pcan_python.egg-info/PKG-INFO -> build/bdist.linux-x86_64/egg/EGG-INFO
copying pcan_python.egg-info/SOURCES.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying pcan_python.egg-info/dependency_links.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying pcan_python.egg-info/top_level.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
zip_safe flag not set; analyzing archive contents...
pcan_python.pcan_module: module references __file__
creating 'dist/pcan_python-0.1.dev0-py2.7.egg' and adding 'build/bdist.linux-x86_64/egg' to it
removing 'build/bdist.linux-x86_64/egg' (and everything under it)
Processing pcan_python-0.1.dev0-py2.7.egg
removing '/usr/local/lib/python2.7/dist-packages/pcan_python-0.1.dev0-py2.7.egg' (and everything under it)
creating /usr/local/lib/python2.7/dist-packages/pcan_python-0.1.dev0-py2.7.egg
Extracting pcan_python-0.1.dev0-py2.7.egg to /usr/local/lib/python2.7/dist-packages
pcan-python 0.1.dev0 is already the active version in easy-install.pth

Installed /usr/local/lib/python2.7/dist-packages/pcan_python-0.1.dev0-py2.7.egg
Processing dependencies for pcan-python==0.1.dev0
Finished processing dependencies for pcan-python==0.1.dev0

[RomanRobotnik]

Replace your make by (in peak-can folder):

make NET=NO_NETDEV_SUPPORT

[MohamadHalwani]

So, ( this was in pcan_python folder)
make clean > make NET=NO_NETDEV_SUPPORT > sudo make install > sudo modprobe pcan
still giving me same error

modprobe: ERROR: could not insert 'pcan': Required key not available
modprobe: ERROR: ../libkmod/libkmod-module.c:977 command_do() Error running install command for pcan
modprobe: ERROR: could not insert 'pcan': Operation not permitted

[RomanRobotnik]

But the output you are showing is not the one form the peak-library but the pcan_python module, am I right?

[MohamadHalwani]

yes correct, should it be from the peak-library ?

[MohamadHalwani]

running make NET=NO_NETDEV_SUPPORT (in peak-linux-driver-8.10.2)
gave me this

make[1]: Entering directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver'
***
*** Making pcan driver in chardev mode
***
*** Host OS Release=Ubuntu v16.04
*** Host machine kernel version=4.15.0-107-generic
*** Driver kernel version=4.15.0-107-generic (4.15.0)
*** Path to kernel sources=/usr/src/linux-headers-4.15.0-107-generic
*** use KBUILD=yes
*** gcc version=5.4.0
***
make -C /usr/src/linux-headers-4.15.0-107-generic  EXTRA_CFLAGS="-I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver -DNO_DEBUG -DMODVERSIONS -DPARPORT_SUBSYSTEM -DUSB_SUPPORT -DPCI_SUPPORT -DPCIEC_SUPPORT -DISA_SUPPORT -DDONGLE_SUPPORT -DPCCARD_SUPPORT -DNO_NETDEV_SUPPORT -DNO_RT   -Wno-date-time" V=0 modules SUBDIRS=/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver
make[2]: Entering directory '/usr/src/linux-headers-4.15.0-107-generic'
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_main.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_fops.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_fifo.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_filter.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_parse.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_sja1000.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_common.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_timing.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcanfd_core.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcanfd_ucan.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_usb_core.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_usb.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_usbpro.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcanfd_usb.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_pci.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcanfd_pci.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_pci_spi.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_pciec.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_isa.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_dongle.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_pccard_core.o
  CC [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/src/pcan_pccard.o
  LD [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/pcan.o
  Building modules, stage 2.
  MODPOST 1 modules
  CC      /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/pcan.mod.o
  LD [M]  /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver/pcan.ko
make[2]: Leaving directory '/usr/src/linux-headers-4.15.0-107-generic'
make[1]: Leaving directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver'
make[1]: Entering directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/lib'
***
*** Making pcan libraries
***
*** gcc version: 5.4.0
***
gcc -DNO_RT -I. -I../driver -fPIC -Wall -Wcast-align -Wredundant-decls  -DPCANFD_OLD_STYLE_API -c src/libpcan.c -o obj/libpcan.o
gcc -shared -Wl,-soname,libpcan.so -o lib/libpcan.so.6 obj/libpcan.o 
cd lib/; ln -sf libpcan.so.6 libpcan.so
gcc -DNO_RT -I. -I../driver -fPIC -Wall -Wcast-align -Wredundant-decls  -DPCANFD_OLD_STYLE_API -c src/libpcanfd.c -o obj/libpcanfd.o
gcc -shared -Wl,-soname,libpcanfd.so -o lib/libpcanfd.so.8 obj/libpcanfd.o 
cd lib/; ln -sf libpcanfd.so.8 libpcanfd.so
ar rcs lib/libpcanfd.a obj/libpcanfd.o

Info: only 64-bit version of libpcan can be built. 32-bit version of libpcan can't because the 32-bit version of libc seems not being installed...

make[1]: Leaving directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/lib'
make[1]: Entering directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/test'
***
*** Making example and test programs
***
*** gcc version: 5.4.0
***
gcc -DNO_RT -I. -I../lib -I../driver  -g src/receivetest.c src/common.c -lpcanfd  -L../lib/lib -Wl,-rpath ../lib/lib -o receivetest
g++ -DNO_RT -I. -I../lib -I../driver  -g src/transmitest.cpp src/common.c src/parser.cpp -lstdc++ -lpcanfd  -L../lib/lib -Wl,-rpath ../lib/lib -o transmitest
gcc -DNO_RT -I. -I../lib -I../driver  -g src/bitratetest.c src/common.c -lpcanfd  -L../lib/lib -Wl,-rpath ../lib/lib -o bitratetest
g++ -DNO_RT -I. -I../lib -I../driver  -g src/filtertest.cpp src/common.c -lstdc++ -lpcanfd  -L../lib/lib -Wl,-rpath ../lib/lib -o filtertest
gcc -DNO_RT -I. -I../lib -I../driver  -g src/pcanfdtst.c -lpcanfd  -L../lib/lib -Wl,-rpath ../lib/lib -lpthread -o pcanfdtst
gcc -DNO_RT -I. -I../lib -I../driver  -g src/pcan-settings.c -lpopt -lpcanfd  -L../lib/lib -Wl,-rpath ../lib/lib -g -o pcan-settings
gcc -DNO_RT -I. -I../lib -I../driver  -g src/receivetest_posix.c src/common.c -lpcanfd  -L../lib/lib -Wl,-rpath ../lib/lib -lpthread -o receivetest_posix
g++ -DNO_RT -I. -I../lib -I../driver  -g src/transmitest_posix.cpp src/common.c src/parser.cpp -lstdc++ -lpcanfd  -L../lib/lib -Wl,-rpath ../lib/lib -lpthread -o transmitest_posix
make[1]: Leaving directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/test'
make[1]: Entering directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/libpcanbasic'
make[2]: Entering directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/libpcanbasic/pcanbasic'
***
*** Making PCANBasic library with FD support (PCAN driver >= 8.0)
***
*** target=libpcanbasic
*** version=4.3.4
*** PCAN_ROOT=/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2
*** gcc version=5.4.0
***
mkdir -p out
gcc -fPIC -shared -O2 -Wall -Wcast-align -Wcast-qual -Wimplicit  -Wpointer-arith -Wswitch -Wredundant-decls -Wreturn-type -Wunused -DNO_RT -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/lib   -c src/libpcanbasic.c -o out/libpcanbasic.o
gcc -fPIC -shared -O2 -Wall -Wcast-align -Wcast-qual -Wimplicit  -Wpointer-arith -Wswitch -Wredundant-decls -Wreturn-type -Wunused -DNO_RT -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/lib   -c src/pcaninfo.c -o out/pcaninfo.o
gcc -fPIC -shared -O2 -Wall -Wcast-align -Wcast-qual -Wimplicit  -Wpointer-arith -Wswitch -Wredundant-decls -Wreturn-type -Wunused -DNO_RT -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/lib   -c src/pcanlog.c -o out/pcanlog.o
gcc -fPIC -shared -O2 -Wall -Wcast-align -Wcast-qual -Wimplicit  -Wpointer-arith -Wswitch -Wredundant-decls -Wreturn-type -Wunused -DNO_RT -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/lib   -c src/pcbcore.c -o out/pcbcore.o
gcc -fPIC -shared -O2 -Wall -Wcast-align -Wcast-qual -Wimplicit  -Wpointer-arith -Wswitch -Wredundant-decls -Wreturn-type -Wunused -DNO_RT -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/lib   -c src/pcblog.c -o out/pcblog.o
gcc -fPIC -shared -O2 -Wall -Wcast-align -Wcast-qual -Wimplicit  -Wpointer-arith -Wswitch -Wredundant-decls -Wreturn-type -Wunused -DNO_RT -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/lib   -c src/pcbtrace.c -o out/pcbtrace.o
gcc -fPIC -shared -O2 -Wall -Wcast-align -Wcast-qual -Wimplicit  -Wpointer-arith -Wswitch -Wredundant-decls -Wreturn-type -Wunused -DNO_RT -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/lib   -c /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/lib/src/libpcanfd.c -o out/libpcanfd.o
gcc -shared -Wl,-soname,libpcanbasic.so -o libpcanbasic.so.4.3.4 out/libpcanbasic.o out/pcaninfo.o out/pcanlog.o out/pcbcore.o out/pcblog.o out/pcbtrace.o out/libpcanfd.o -lm    
ln -sf libpcanbasic.so.4.3.4 libpcanbasic.so
make[2]: Leaving directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/libpcanbasic/pcanbasic'
make[2]: Entering directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/libpcanbasic/pcaninfo'
*** Making PCANINFO
***
*** target=pcaninfo
*** version=1.0.3
*** PCAN_ROOT=/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2
*** gcc version=5.4.0
***
gcc src/main.c ../pcanbasic/src/pcanlog.c ../pcanbasic/src/pcblog.c ../pcanbasic/src/pcbtrace.c ../pcanbasic/src/pcbcore.c ../pcanbasic/src/pcaninfo.c /home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/lib/src/libpcanfd.c -O2 -Wall -Wcast-align -Wcast-qual -Wimplicit  -Wpointer-arith -Wswitch -Wredundant-decls -Wreturn-type -Wunused -DNO_RT -I../pcanbasic/src -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/lib  -lm  -o pcaninfo.1.0.3
ln -sf pcaninfo.1.0.3 pcaninfo
make[2]: Leaving directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/libpcanbasic/pcaninfo'
make[2]: Entering directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/libpcanbasic/examples'
make[3]: Entering directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/libpcanbasic/examples/python'
make[3]: Nothing to be done for 'all'.
make[3]: Leaving directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/libpcanbasic/examples/python'
make[3]: Entering directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/libpcanbasic/examples/c++'
***
*** Making PCANBasic C++ examples
***
*** target=pcanwrite pcanread pcaneventread pcaneventwrite
*** g++ version=5.4.0
*** PCANBASIC_ROOT=../../pcanbasic
***
g++ -I../../pcanbasic -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver -DNO_RT src/pcanwrite.cpp -L../../pcanbasic -Wl,-rpath ../../pcanbasic -lpcanbasic -o pcanwrite
g++ -I../../pcanbasic -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver -DNO_RT src/pcanread.cpp -L../../pcanbasic -Wl,-rpath ../../pcanbasic -lpcanbasic -o pcanread
g++ -I../../pcanbasic -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver -DNO_RT src/pcaneventread.cpp -L../../pcanbasic -Wl,-rpath ../../pcanbasic -lpcanbasic -o pcaneventread
g++ -I../../pcanbasic -I/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/driver -DNO_RT src/pcaneventwrite.cpp -L../../pcanbasic -Wl,-rpath ../../pcanbasic -lpcanbasic -o pcaneventwrite
make[3]: Leaving directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/libpcanbasic/examples/c++'
make[2]: Leaving directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/libpcanbasic/examples'
make[1]: Leaving directory '/home/ubuntu/3DGripper_ws/src/Barrett_hand/peak-linux-driver-8.10.2/libpcanbasic'

now trying
sudo modprobe pcan
giving me the same error in both pcan-python and in peak library driver folders

modprobe: ERROR: could not insert 'pcan': Required key not available
modprobe: ERROR: ../libkmod/libkmod-module.c:977 command_do() Error running install command for pcan
modprobe: ERROR: could not insert 'pcan': Operation not permitted

[MohamadHalwani]

Do you think this info message (it is only part of the whole output I'm receiving) has to do anything with the issue?

Info: mainline drivers removed and blacklisted in
      /etc/modprobe.d/blacklist-peak.conf

I'm getting it after sudo make install

[MohamadHalwani]

I solved the issue :D
The problem that was causing

modprobe: ERROR: could not insert 'pcan': Required key not available
modprobe: ERROR: ../libkmod/libkmod-module.c:977 command_do() Error running install command for pcan
modprobe: ERROR: could not insert 'pcan': Operation not permitted

happens with UEFI systems with enabled Secure Boot
and solution can be found here:
https://askubuntu.com/questions/760671/could-not-load-vboxdrv-after-upgrade-to-ubuntu-16-04-and-i-want-to-keep-secur
answer by Adriana