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Kawasaki-Robotics / khi_robot

ROS KHI robot meta-package
http://wiki.ros.org/khi_robot
BSD 3-Clause "New" or "Revised" License
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Communication with the robot controller is lost. #74

Open wakasaki41 opened 1 year ago

wakasaki41 commented 1 year ago

We are dealing with RS080n, we are using rs080n_bringup.launch to run the robot, but sometimes we lose communication with the robot. At that time, if we send a ping command, we get 100% packet loss.

The cases where this phenomenon is observed are when I press emergency stop to stop the robot or when I use Ctrl+C to exit rs080n_bringup.launch. However, this does not happen every time.

matsui-hiro commented 1 year ago

Hi @wakasaki41,

I have tried Ctrl+C to exit rs080n_bringup.launch and emergency stop during communication but packet loss did not occur.

I would like to know more detailed situation. What is the software version of the controller? Please send the log of rs080n_bringup.launch if you have.

wakasaki41 commented 1 year ago

Where can I check the controller version?

matsui-hiro commented 1 year ago

You can check the version by Auxiliary function 0804 or Monitor command "ID".

wakasaki41 commented 1 year ago

software-version

wakasaki41 commented 1 year ago

We thought there was a negotiation problem, so we disabled auto-negotiation and fixed the communication speed at 1000 Mbps. We also changed to use khi_robot_command_service to send a quit command to the Driver to kill it.

So far the problem has not recurred, but if it happens again, we will contact you.

Thank you very much.