Hello,
I don't know if this will help someone, but some common mistakes (that we made while starting to work with the robot) and lead us to the "Timeout before FRI connection quality reached GOOD or EXCELLENT" where:
1) In the Java program, working on the robot, there should be the IP adresse of the client that will be communicating through FRI. ex:
package com.kuka.connectivity.fri.example;
import static com.kuka.roboticsAPI.motionModel.BasicMotions.ptp;
public class LBRTorqueSineOverlay extends RoboticsAPIApplication
{
private Controller _lbrController;
private LBR _lbr;
private String _clientName;
private Tool Prehenseur;
@Override
public void initialize()
{
_lbrController = (Controller) getContext().getControllers().toArray()[0];
_lbr = (LBR) _lbrController.getDevices().toArray()[0];
//Prehenseur = getApplicationData().createFromTemplate("ToolTemplate");
//Prehenseur.attachTo(_lbr.getFlange());
// **********************************************************************
// *** change next line to the FRIClient's IP address ***
// **********************************************************************
_clientName = "192.170.10.10";
}
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This is the beginning of the code on the robot side, at the end there is the IP adresse of my client computer, there was a default value there in their exmples and templates, making the robot to wait for messages from an IP that was not the correct one.
2) Make your client computer (either Ubuntu or Windows) to work on high perfomance mode (for instances, by plugging your computer, instead of working on battery). This seems simple but I have had several issues with time delays because of that.
Hope it helps