Hey there,
I am trying to establish a connection between the RSI interface and KUKA KR_20 R1810-2, a KR_C4 controller.
Up till now, I have followed below instructions:
1. [Configuring RSI on the controller.](https://github.com/ros-industrial…rface/krl/KR_C4)
2. [Problem to set-up RSI interface with KR6 R900 and this answer.](https://github.com/ros-industrial…mment-371521574)
I have set the Ip Address is shown below:
Smart-pad Ip address:
Windows 10 OS in a smart pad: 192.168.0.1
Not changed, and not safe to do so.
Smartpad virtual5 KLI: 172.31.1.147
Virtual 6: 192.168.1.121
Windows interface is selected.
Virtual 7 RSI: 192.168.2.121
Linux PC:
192.168.1.210 windows interface
192.168.2.210 RSI
Selecting User as Administrator in the smart pad and after Minimize HMI (Start-up > Service > Minimize HMI), I window 10 of smart pad I can ping to 192.168.1.121, 192.168.2.121, and 192.168.1.210, but I am not able to ping 192.168.2.210. On the other side, I can ping all the smart-pad addresses, e.g. (172.31.1.147, 192.168.1.121, 192.168.2.121 ).
In ros_rsi_ethernet.xml, I have tried adding both IP addresses of my Linux pc 192.168.2.210 and 192.169.1.210.
In test_params.yml, I have changed the IP address to 192.168.1.210. Further, I have added the below line just before kuks_hardware_interface.
```
<arg name="model" default="$(find kuka_kr16_support)/urdf/kr16_2.xacro"/>
<param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
```
This is the output I am getting :
```
kuka-ai@kukaai-ROG-Zephyrus-G15-GA502IU-GA502IU:~/ws_moveit$ roslaunch kuka_rsi_hw_interface test_hardware_interface.launch sim:=false
... logging to /home/kuka-ai/.ros/log/63f99866-7771-11eb-bd0a-efc131f6c940/roslaunch-kukaai-ROG-Zephyrus-G15-GA502IU-GA502IU-8082.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://kukaai-ROG-Zephyrus-G15-GA502IU-GA502IU:40857/
SUMMARY
========
PARAMETERS
* /controller_joint_names: ['joint_a1', 'joi...
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /position_trajectory_controller/action_monitor_rate: 20
* /position_trajectory_controller/joints: ['joint_a1', 'joi...
* /position_trajectory_controller/state_publish_rate: 50
* /position_trajectory_controller/type: position_controll...
* /robot_description: <?xml version="1....
* /rosdistro: noetic
* /rosversion: 1.15.9
* /rsi/listen_address: 192.168.1.210
* /rsi/listen_port: 49152
NODES
/
controller_spawner (controller_manager/spawner)
kuka_hardware_interface (kuka_rsi_hw_interface/kuka_hardware_interface_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
ROS_MASTER_URI=http://localhost:11311
process[kuka_hardware_interface-1]: started with pid [8098]
process[controller_spawner-2]: started with pid [8099]
[ INFO] [1614265728.636066787]: Starting hardware interface...
process[robot_state_publisher-3]: started with pid [8101]
[ INFO] [1614265728.647552308]: Loaded kuka_rsi_hardware_interface
[ INFO] [1614265728.650771039]: Setting up RSI server on: (192.168.1.210, 49152)
[ INFO] [1614265728.675373482]: Waiting for robot!
[WARN] [1614265728.882024]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1614265728.883432]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1614265728.887354]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1614265728.891932]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1614265728.896652]: Loading controller: position_trajectory_controller
[INFO] [1614265728.924515]: Loading controller: joint_state_controller
[INFO] [1614265728.929037]: Controller Spawner: Loaded controllers: position_trajectory_controller, joint_state_controller
```
On the controller side I am getting this error:
![WhatsApp Image 2021-02-25 at 3 57 34 PM](https://user-images.githubusercontent.com/12687608/10918…ecf317abb8.jpeg)
![WhatsApp Image 2021-02-25 at 3 56 25 PM](https://user-images.githubusercontent.com/12687608/10918…8ad5ae2efb.jpeg)
My configuration is correct?
And why am I not able to communicate?
Thanks in advance for your help.