Subscribers running on robot is never executed

[jeppewalther]

I am running Sunrise 1.9 Java 1.6 on the KUKA controller and ROS Indigo on the control PC.

The robot seems to be publishing info just fine. However i am not able to subscribe to subjects, say "/iiwa/command/JointPosition".

I have also tried to setup a simple /Float64 subscriber with the same results. It seems that the message listener (onNewMessage) callback is never executed.

I can see the ROSJava node is registred in the ros graph and that the topic that i am subscribing to gets registered. But again for some reason the subscribers ROSJava callback never gets executed

I saw in the documentation that you are using Java 1.7. In that case how did you get 1.7 installed on the controller.

[SalvoVirga]

Hi, iiwa_stack should work as well with Sunrise 1.9, I'm switching myself to that version in the next weeks. Downgrading to 1.7 requires assistance from KUKA, so I don't suggest it.

About your problem, did you modify your .bashrc file according to this?

[jeppewalther]

Yes both ROS_IP and ROS_MASTER_URI are set.

With my simple publisher subscriber setup the funny thing is that my listener "/iiwa/listner" seems to get connected just fine to the java node "/iiwa/iiwa_subscriber" when displaying "Nodes/Topics (all)" but when displaying "Nodes/Topics (active)" the connection is not displayed.

Also i am able to publish info from the robot to the ROS pc

[SalvoVirga]

Problem is fixed for the user. Usually this kind of problems come from some mismatching network settings, if happens always check :

• the IP set to the KONI interface within Windows7 Embedded,
• that the .bashrc contains the right IPs,
• the config.txt in Sunrise Workbench has the right IP