search

Kawasaki-Robotics / khi_robot

ROS KHI robot meta-package
http://wiki.ros.org/khi_robot
BSD 3-Clause "New" or "Revised" License
54 stars 28 forks source link

unable to use the package with K-Roset #88

Open Albus-Scolari opened 6 months ago

Albus-Scolari commented 6 months ago

hello I'm trying to test the driver in simulation using the kawasaki software K-Roset Lite currently my setup consist in the driver running on a VM on a windows machine i'm able to ping the host machine with ip 192.168.47.1 the vm is running ubuntu 20.04 with a real time kernel installed and ros noetic trying the bringup example with rs007n I run:

roslaunch khi_robot_bringup rs007n_bringup.launch ip:=192.168.47.1

foto1

this is the errors I'm currently getting:

process[khi_robot_control-2]: started with pid [4754] process[world_link_broadcaster-3]: started with pid [4755] process[robot_state_publisher-4]: started with pid [4756] process[controller_spawner-5]: started with pid [4757] [ INFO] [1708034361.811231483]: KHI robot control started. [REALTIME] process[joint_group_controller_manager-6]: started with pid [4774] [ INFO] [1708034361.856191906]: [KhiRobotKrnxDriver] KRNX Linux-x86_64 DEV 2.7.2 2023/04/26 12:31 [ INFO] [1708034361.856310709]: [KhiRobotKrnxDriver] State 0: INIT -> CONNECTING [ INFO] [1708034361.856365560]: [KhiRobotKrnxDriver] Connecting to real controller: 192.168.47.1 No port_*.tbl. KRNX uses default port setting. allapi_open error ret=-8192 [ERROR] [1708034361.859506233]: [KhiRobotKrnxDriver] krnx_Open returned -0x2000 [ INFO] [1708034361.859623065]: [KhiRobotKrnxDriver] State 0: CONNECTING -> INIT [ERROR] [1708034361.859712328]: Failed to open KHI robot [ INFO] [1708034361.859772407]: [KhiRobotKrnxDriver] State 0: INIT -> DISCONNECTING [ERROR] [1708034361.859920496]: [KhiRobotKrnxDriver] krnx_Close returned -0x2000 [ INFO] [1708034361.859980041]: [KhiRobotKrnxDriver] destructor [ERROR] [1708034361.860030179]: [KhiRobotKrnxDriver] krnx_Close returned -0x2000 [ INFO] [1708034361.860082827]: [KhiRobotKrnxDriver] destructor [khi_robot_control-2] process has died [pid 4754, exit code -11, cmd /home/albus/khi_ws/devel/lib/khi_robot_control/main --interface 192.168.47.1 --period 2 --robot RS007N __name:=khi_robot_control __log:=/home/albus/.ros/log/77f211e8-cc4d-11ee-a6f1-191bacafad9d/khi_robot_control-2.log]. log file: /home/albus/.ros/log/77f211e8-cc4d-11ee-a6f1-191bacafad9d/khi_robot_control-2*.log [WARN] [1708034362.592869]: DEPRECATION warning: --shutdown-timeout has no effect. [INFO] [1708034362.595904]: Controller Spawner: Waiting for service controller_manager/load_controller [WARN] [1708034392.631931]: Controller Spawner couldn't find the expected controller_manager ROS interface. [controller_spawner-5] proc

does anybody managed to run successfully the driver with K-Roset? thank you in advance for your help

Albus-Scolari commented 6 months ago

@d-nakamichi @matsui-hiro