Hey,
Yes! I tried but when I double-click on that file from work visual it open in another text editor. And how can I compile this file?
Hey,
Yes! I tried but when I double-click on that file from work visual it open in another text editor. And how can I compile this file?
Hello Roboformer and @SkyeFire,
Yes! I have checked the file is there and the location is also the same: C:\KRC\ROBOTER\Config\User\Common\SensorInterface
Hello Roboformer,
Thanks for the reply. I am getting 27 from ret. What is the meaning of that from your screenshot can you please help me with that?
Thanks
Hello SkyeFire,
I have checked the full RSI pdf but did not get about this issue and response code. So according to you, I have to change the code of RSI.SRC, but when I check the code of this file I get confused about what to do and how to make my Kuka robot arm working with ROS. I am posting code that may give an idea of you what's wrong with the code.
http://vip.gatech.edu/wiki/images/3/…orInterface.pdf
<?xml version="1.0" encoding="utf-8"?>
<rSIModel dslVersion="1.0.0.0" name="" xmlns="http://schemas.microsoft.com/dsltools/RSIVisual">
<rSIObjects>
<rSIElement name="AXISCORR1" objType="AXISCORR" objTypeID="33" maxInputs="0" maxOutputs="0">
<rSIInPorts>
<rSIInPort name="CorrA1" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out1" />
</source>
</rSIInPort>
<rSIInPort name="CorrA2" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out2" />
</source>
</rSIInPort>
<rSIInPort name="CorrA3" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out3" />
</source>
</rSIInPort>
<rSIInPort name="CorrA4" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out4" />
</source>
</rSIInPort>
<rSIInPort name="CorrA5" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out5" />
</source>
</rSIInPort>
<rSIInPort name="CorrA6" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out6" />
</source>
</rSIInPort>
</rSIInPorts>
<rSIOutPorts>
<rSIOutPort name="Stat" signalType="Int" />
<rSIOutPort name="A1" />
<rSIOutPort name="A2" />
<rSIOutPort name="A3" />
<rSIOutPort name="A4" />
<rSIOutPort name="A5" />
<rSIOutPort name="A6" />
</rSIOutPorts>
<rSIParameters>
<rSIParameter name="LowerLimA1" value="-90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="1" />
<rSIParameter name="LowerLimA2" value="-90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="2" />
<rSIParameter name="LowerLimA3" value="-90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="3" />
<rSIParameter name="LowerLimA4" value="-90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="4" />
<rSIParameter name="LowerLimA5" value="-90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="5" />
<rSIParameter name="LowerLimA6" value="-90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="6" />
<rSIParameter name="UpperLimA1" value="90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="13" />
<rSIParameter name="UpperLimA2" value="90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="14" />
<rSIParameter name="UpperLimA3" value="90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="15" />
<rSIParameter name="UpperLimA4" value="90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="16" />
<rSIParameter name="UpperLimA5" value="90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="17" />
<rSIParameter name="UpperLimA6" value="90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="18" />
</rSIParameters>
</rSIElement>
<rSIElement name="ETHERNET1" objType="ETHERNET" objTypeID="64" maxInputs="64" maxOutputs="64">
<rSIInPorts>
<rSIInPort name="In1" mandatory="false" />
</rSIInPorts>
<rSIOutPorts>
<rSIOutPort name="Out1" />
<rSIOutPort name="Out2" />
<rSIOutPort name="Out3" />
<rSIOutPort name="Out4" />
<rSIOutPort name="Out5" />
<rSIOutPort name="Out6" />
<rSIOutPort name="Out7" />
</rSIOutPorts>
<rSIParameters>
<rSIParameter name="ConfigFile" value="ros_rsi_ethernet.xml" paramType="System.FileName" minVal="-2147483648" maxVal="2147483647" isEnum="false" isRuntime="false" index="1" />
<rSIParameter name="Timeout" value="100" paramType="System.Int32" minVal="0" maxVal="2147483647" isEnum="false" index="1" />
<rSIParameter name="Flag" value="1" paramType="System.Int32" minVal="-1" maxVal="999" isEnum="false" index="4" />
<rSIParameter name="Precision" value="4" paramType="System.Int32" minVal="1" maxVal="32" isEnum="false" index="8" />
</rSIParameters>
</rSIElement>
<rSIElement name="AXISCORRMON1" objType="AXISCORRMON" objTypeID="82" maxInputs="0" maxOutputs="0">
<rSIOutPorts>
<rSIOutPort name="A1" />
<rSIOutPort name="A2" />
<rSIOutPort name="A3" />
<rSIOutPort name="A4" />
<rSIOutPort name="A5" />
<rSIOutPort name="A6" />
<rSIOutPort name="E1" />
<rSIOutPort name="E2" />
<rSIOutPort name="E3" />
<rSIOutPort name="E4" />
<rSIOutPort name="E5" />
<rSIOutPort name="E6" />
</rSIOutPorts>
<rSIParameters>
<rSIParameter name="MaxA1" value="90.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="1" />
<rSIParameter name="MaxA2" value="90.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="2" />
<rSIParameter name="MaxA3" value="90.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="3" />
<rSIParameter name="MaxA4" value="90.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="4" />
<rSIParameter name="MaxA5" value="90.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="5" />
<rSIParameter name="MaxA6" value="90.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="6" />
<rSIParameter name="MaxE1" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="7" />
<rSIParameter name="MaxE2" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="8" />
<rSIParameter name="MaxE3" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="9" />
<rSIParameter name="MaxE4" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="10" />
<rSIParameter name="MaxE5" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="11" />
<rSIParameter name="MaxE6" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="12" />
</rSIParameters>
</rSIElement>
</rSIObjects>
</rSIModel>
Display More
Thanks for the help I was not knowing that. Yes! I am getting 27 in ret and if I am trying $ret then also I am getting some data screenshot attached. Thanks
Hello panic mode,
I have tried to obtain the value of rat, but I am not getting any value of it..
According to your experience do you think that if my virtual environment and real environment link will be different in look so that can through error.
yes, I am getting output something like this below image. I am not sure that I am able to provide you much information from the below picture. I am new to this and I don't that I have provided is a value for that variable or not
Hello SkyeFire,
I have just used the kuka_experimental library that was provided by ros.
https://github.com/ros-industrial…rface/krl/KR_C4
and In that, I have just changed the Ip address according to my laptop(RSI Server IP address).
How we can check the value of rat?
Thanks you so much!!
Hello, @panic mode,
Thanks for your suggestion and I think you are true, so I am sorry for that.
When recording the video, I should have given you a hint to identify the mistake, and again sorry for that.
I did all things from the start again, and I found few points, but I am confused that it a true or wrong.
1. I was using the kuka_experimental library from GitHub for ROS configuration, In that, I am using the kuka_kr16_support package for the robot, but my robot is KR20 R1810-2. I have checked the difference between both robots, and I found that some links given in both pictures are different.
Again: I am not sure that this causes the problem or not?
Simulator:
https://drive.google.com/file/d/1biSERo…iew?usp=sharing
Real Robot:
https://drive.google.com/file/d/1VeOvXO…iew?usp=sharing
I think that this robot looks different; that may be an issue for ROS connection or not?
2. (Hint -2 ) Whenever I am running my program:
I see this type of behavior: First, it will execute PTP {A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0} this line, and release the play button and play it again then my cursor stops here in HALT. I have checked my file is in the proper location, and I think that this condition is not satisfying
ret = RSI_CREATE("ros_rsi.rsi",CONTID,TRUE)
IF (ret <> RSIOK) THEN
HALT # Over here
ENDIF
3. After Halt when I press the play button again, I am getting two warnings:
1. RSI: cannot set any outputs due to operator protection
Originator:KS
(Do we have to turn some operator flag on for this?)
2. RSI_MOVECORR: Motion active
Originator:0
And in Auto mode: all things up till now remain the same but I get this extra warning.
3. Process active
KSS01372
Thanks for helping
Hello,
I am trying to configure RSI with ROS(Robot operating system) and In terminal, I should get " Got connection from the robot" it was maintained in the following link by doing below steps.
The terminal output is attached at the last.
The kuka_rsi_hardware_interface is now waiting for the robot controller to connect. Follow the next steps to connect RSI:
KRC:\R1\Program
and select ros_rsi.src
.Ignoring the error and not reading it is not a bad habit, I am seeing these messages for the last 4 days so I know what's in the message and what it tells it.
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
Display More
Hello Guys,
I have tried running in all modes but then also it is not working.
I am attaching a video link of the output I am getting:
Thanks for replying.
Thanks for the answer,
I will try tomorrow and give an update to you tomorrow.
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.