RSI4: cannot get connection to ROS with KR10

[bmaric]

We have KUKA KR10 robot, with KR C4 Compact control unit with RSI, but unfortunately I have problem with setting up communication between ROS and Kuka robot. I've downloaded this git repository, and followed all the steps in readme file in KRL/KR_C4 folder, but when I come to testing, I cannot get 'Got connection from robot' message.

I did following steps:

1. KLI is set to 192.168.250.20, 255.255.255.0 with standard gateway 192.168.250.20

2. My external PC running Ubuntu and ROS is set to 192.168.250.25, 255.255.255.0, and I'm able to ping addresses from (1) and (2) in both directions.

3. Later, in Kuka HMI Network settings, I created new network (virtual6) for RSI, and set mixed IP, 192.168.1.20, and to my PC also add new IP 192.168.1.25. Ping of these addresses is again ok on both machines. This step is described differently in package instructions, but I have no application RSI-Network, and from KUKA support they told me it is enough to put it manually in network settings.

4. I modified KRL files(ros_rsi_ethernet.xml) and test_params.yaml with IP: 192.168.1.25, port: 49152

5. I copied files according to instruction to folders on KUKA control unit

6. When I come to testing, as instructed I start roslaunch kuka_rsi_hw_interface test_hardware_interface.launch sim:=false, I got message that RSI server is set to 192.168.1.25, 49152, and "Waiting for robot!". Then I go to Kuka teach pendant and start ros_rsi.src program, but in the end I cannot get message "Got connection from robot". Also I cannot read joint states topic.

Maybe somebody can give me a hint? Thank's!

[gavanderhoorn]

This sounds like a network configuration issue, either on the controller or on the PC side.

Unfortunately it's been quite a while since I've last had to setup something like this myself, so I'm afraid I can't be of much help personally.

Perhaps one of the other users of the packages in this repository can assist.

---

Something to try: install Wireshark and start a capture on the interface that you're trying to run RSI over. If you don't see any traffic there, it would appear that something is not correct on the robot's side.

[bmaric]

Thank you for the answer. Recently, I found out our RSI is version 4, so KRL files included in package doesn't work. I rewrote it, and it works now, although I cannot get all axes move whole joint range. Should I make pull request?

[gavanderhoorn]

@bmaric wrote:

Should I make pull request?

that would be great, yes.

[gavanderhoorn]

🛎️ @bmaric?

[gavanderhoorn]

We would still be interested in a PR that shows the changes needed for RSI v4. If you have the time @bmaric, that would be appreciated.

[bmaric]

Sorry for so late answer. Finally I put everything together and tested. Pull request is on #152

[AAAipa]

Hi every one!
Does it make sense to add to the readme a section with include the supported rsi versions?
I just tried the rsi 3 with the provided information here and everything worked fine...
BR