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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
54 stars 28 forks source link

can't connect real robot(RS007l) #90

Closed elripunt closed 4 months ago

elripunt commented 4 months ago

hello. I try to connect rs007l and F60 controller to ros So, referring to the ConnectingRealRobot.md file, I connected the Ethernet cable to the pc and controller. And I ran roslaunch khi_robot_bringup rs013n_bringup.launch ip:=192.168.5.10

But I got this error message

auxapi_login error ret=-8200
asapi_connect error ret=-4099
[ERROR] [1712824106.423495507]: [KhiRobotKrnxDriver] krnx_Open returned -0x1003
[ INFO] [1712824106.423616006]: [KhiRobotKrnxDriver] State 0: CONNECTING -> INIT
[ERROR] [1712824106.423767172]: Failed to open KHI robot
[ INFO] [1712824106.423895855]: [KhiRobotKrnxDriver] State 0: INIT -> DISCONNECTING
[ERROR] [1712824106.424007162]: [KhiRobotKrnxDriver] krnx_Close returned -0x2000
[ INFO] [1712824106.424089355]: [KhiRobotKrnxDriver] destructor
[ERROR] [1712824106.424166824]: [KhiRobotKrnxDriver] krnx_Close returned -0x2000
[ INFO] [1712824106.424244112]: [KhiRobotKrnxDriver] destructor
[khi_robot_control-2] process has died [pid 9677, exit code -11

and i try ping 192.168.5.10 It works correctly

Can you please help me solve this problem?

[ROBOT and PC version] os: ubuntu20.04 ros: noetic

robot name: rs007l-A001 controller: F60 AS version: ASF_01000001A (Is this version higher than ASF_01000000W??)

thank you.

matsui-hiro commented 4 months ago

Hi @elripunt,

And I ran roslaunch khi_robot_bringup rs013n_bringup.launch ip:=192.168.5.10

When you want to connect to rs007l, plsease run rs007l_bringup.launch. (Not rs013n_bringup.launch) If the error still occurs, could you check for connectivity by ping?

elripunt commented 4 months ago

sorry i try roslaunch khi_robot_bringup rs007l_bringup.launch ip:=192.168.5.10 not rs013n and i try again rs007l_bringup.launch but it's the same error message

so I checked with this command ping 192.168.5.10

PING 192.168.5.10 (192.168.5.10) 56(84) bytes of data. 64 bytes from 192.168.5.10: icmp_seq=1 ttl=64 time=0.065 ms 64 bytes from 192.168.5.10: icmp_seq=2 ttl=64 time=0.060 ms 64 bytes from 192.168.5.10: icmp_seq=3 ttl=64 time=0.074 ms 64 bytes from 192.168.5.10: icmp_seq=4 ttl=64 time=0.063 ms 64 bytes from 192.168.5.10: icmp_seq=5 ttl=64 time=0.064 ms 64 bytes from 192.168.5.10: icmp_seq=6 ttl=64 time=0.062 ms 64 bytes from 192.168.5.10: icmp_seq=7 ttl=64 time=0.080 ms 64 bytes from 192.168.5.10: icmp_seq=8 ttl=64 time=0.063 ms 64 bytes from 192.168.5.10: icmp_seq=9 ttl=64 time=0.064 ms 64 bytes from 192.168.5.10: icmp_seq=10 ttl=64 time=0.055 ms 64 bytes from 192.168.5.10: icmp_seq=11 ttl=64 time=0.080 ms 64 bytes from 192.168.5.10: icmp_seq=12 ttl=64 time=0.066 ms 64 bytes from 192.168.5.10: icmp_seq=13 ttl=64 time=0.064 ms 64 bytes from 192.168.5.10: icmp_seq=14 ttl=64 time=0.069 ms

elripunt commented 4 months ago

pc and the controller's ip should not be set the same It's my mistake Thank you!