Hi all,
I am working with the Kuka LBR IIWA and would like to use ROS to control it. I found this https://bitbucket.org/khansari/iiwa/wiki/Home to do that, but I got stuck at the part to make the cabinet accept ROS communication. Whenever I run "C:\KUKA\Hardware\Manager>KUKAHardwareManager.exe -assign OptionNIC -os WIN", it gives me a warning saying "Assignment not possible while KS is running". Once this command is executed successfully, I should be able to see the network interface but I don't see it.
So the thing is, the controller has two physical ethernet ports, but if I log into the cabinet I can only see one in the network center. The one that is currently showing is the Virtual Network Adapter which acts as a bridge between Windows and VxWorks from what I understand. From the little information I gathered, I suspect that the second interface is not shown to Windows because it's hidden by VxWorks and we need to take that interface out of VxWorks to make it available for Windows, so that we can establish a connection with ROS. By using the HardwareManager I can't get this second network interface to show up. What can I do to solve this problem? Is it possible to stop this "KS" process so that the HardwareManager can do its job? Or should I try to do something else? I already checked the BIOS settings and both Ethernet ports are enabled. If I plug in a cable I can see leds lighting up. However, if I check ipconfig or the device manager I don't see the interface, although I think I did see it in Regedit. I am quite at a loss now and information is scarce so please let me know if you know something, thanks.