Hello! Does anyone have experience with defining and using user keys on smartHMI with Kuka iiwa ?
I have read manual and implemented all the stuff. Hovewer I keep getting an error "Can't publish the bar because key at slot 0 does not contain any elements".
Here is my code
Code
IUserKeyBar keybar = getApplicationUI().createUserKeyBar("Main");
IUserKeyListener listener1 = new IUserKeyListener() {
@Override
public void onKeyEvent(IUserKey homeKey, UserKeyEvent event) {
if (event == UserKeyEvent.KeyDown) {
lbr.move(posWriteReady.setJointVelocityRel(0.5));
}
}
};
IUserKeyListener listener2 = new IUserKeyListener() {
@Override
public void onKeyEvent(IUserKey vikTableKey, UserKeyEvent event) {
if (event == UserKeyEvent.KeyDown) {
lbr.move(posWriteMyTable.setJointVelocityRel(0.25));
}
}
};
IUserKey homeKey = keybar.addUserKey(0, listener1, true);
IUserKey vikTableKey = keybar.addUserKey(1, listener2, true);
keybar.publish();
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