We're setting up our new iiwa 7 R800 in a university lab and are trying to communicate with it using this ROS package: github.com/IFL-CAMP/iiwa_stack
Our Sunrise cabinet's Koni port is connected to our network, and we've assigned it a static IP: 192.168.160.129. When prompted for an IP address when creating the Sunrise project, we gave this one. (We had tried with the default 172.31.1.147, but couldn't install the project.) We seem to have successfully installed the project, as the safety configuration was updated as expected. However, there are no applications installed on the tablet. When we try to synchronize the project, we get an error because 192.168.160.129:8090 isn't open. Is this expected? Should we set up port forwarding on our router so this port is open?
Applications not appearing on pendant after installing Sunrise Workbench project
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mc123 -
August 30, 2018 at 11:10 PM -
Thread is marked as Resolved.
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However, there are no applications installed on the tablet.
Applications are coming with first synchronization (not with installation).
First of all, from your PC try to ping new IP address which you have set to Sunrise (192.168.160.129), to be sure that you have a connection. -
I am sorry but, please be aware that my information could be wrong cause I haven't experienced ROS.
Few things you might want to check,1. KONI is not a port to synchronize with your SunriseWorkbench. You need to use KLI to do it. You might want to think like; KLI for Sunrise, KONI for ROS.
2. Maybe redirection of KONI to Windows from VxWorks-where it is originally connected- is necessary.
PLEASE BE SURE THAT YOU WILL BE THE ONE IN CHARGE OF THE CONSEQUENCE OF THE PROCESS BELOW ,but, yes I can tell you it works.
Try review here, https://github.com/IFL-CAMP/iiwa_stack/wiki/cabinet_setup -
From the Sunrise bible:
The following IP address ranges are used internally by the robot controller.
192.*.*.*
172.16.*.*
172.17.*.*I think you must pick one that does not fall in this range
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Thanks for the responses.
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Applications are coming with first synchronization (not with installation).
That makes sense.Quote
First of all, from your PC try to ping new IP address which you have set to Sunrise (192.168.160.129), to be sure that you have a connection.
Yes, I can ping it. I ran nmap 192.168.160.129 -p-, here are the results:Code
Display MoreStarting Nmap 6.40 ( http://nmap.org ) at 2018-08-29 15:17 EDT Nmap scan report for WINDOWS-0C46HP4.lan (192.168.160.129) Host is up (0.00017s latency). Not shown: 65513 closed ports PORT STATE SERVICE 7/tcp open echo 9/tcp open discard 13/tcp open daytime 17/tcp open qotd 19/tcp open chargen 80/tcp open http 135/tcp open msrpc 139/tcp open netbios-ssn 445/tcp open microsoft-ds 515/tcp open printer 2103/tcp open zephyr-clt 2105/tcp open eklogin 2107/tcp open msmq-mgmt 3389/tcp open ms-wbt-server 49152/tcp open unknown 49153/tcp open unknown 49154/tcp open unknown 49155/tcp open unknown 49156/tcp open unknown 49157/tcp open unknown 49159/tcp open unknown 54250/tcp open unknown Nmap done: 1 IP address (1 host up) scanned in 93.49 seconds
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1. KONI is not a port to synchronize with your SunriseWorkbench. You need to use KLI to do it. You might want to think like; KLI for Sunrise, KONI for ROS.
I'm installing and synchronizing the Sunrise project from within the cabinet itself.Quote
PLEASE BE SURE THAT YOU WILL BE THE ONE IN CHARGE OF THE CONSEQUENCE OF THE PROCESS BELOW , but, yes I can tell you it works.
Try review here, https://github.com/IFL-CAMP/iiwa_stack/wiki/cabinet_setup
Yes, those are the instructions I've followed, other than plugging the computer directly into the robot.Quote
From the Sunrise bible:The following IP address ranges are used internally by the robot controller.
192.*.*.*
172.16.*.*
172.17.*.*I think you must pick one that does not fall in this range
Which version of the instructions are you looking at? Is that a direct quote? I've seen multiple different versions that state that the 192.168.0.* subnet is reserved; the 192.168.160.* subnet should be safe to use.
Here's a direct quote about the reserved ranges from the KUKA Sunrise.OS 1.11 manual:Quote
169.254.0.0 … 169.254.255.255
172.16.0.0 … 172.16.255.255
172.17.0.0 … 172.17.255.255
192.168.0.0 … 192.168.0.255 -
Follow the manual with the same version number as your sunrise workbench
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Follow the manual with the same version number as your sunrise workbench
I have 1.14, but I don't have a copy of the System Integrator Sunrise system software instructions. -
The manual is in the CD that comes with your robot. I have 1.14 in my work computer, I can send it next week
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Hi mc123,
I have 1.14, but I don't have a copy of the System Integrator Sunrise system software instructions.You also may find the Manual in the help System of the Sunrise Workbench.
In the menu, open "Help" -> "Contents", and you will find the respective pdf documents.DrG
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We successfully synchronized the project with the controller. Previously, we had connected the Sunrise cabinet's Koni port to our network. We later tried following the instructions exactly by connecting the Sunrise cabinet directly to our computer, though we had the same issue.
We were able to install the project when Sunrise Workbench was installed directly on the Sunrise cabinet, but couldn't synchronize it. The solution was to instead install Sunrise Workbench on another Windows machine, connect that machine directly to the KLI Ethernet port on the Sunrise cabinet, and assign that machine an IP on the controller's 172.31.x.x subnet. We could then install and synchronize the project.