ros test command not work

[jacknlliu]

Hi, after some hard work, the codes are finally running both on SmartHMI and PC, but when I test the kuka ros test script, the robot didn't move to the specified joint position.

the output from PC is:

 [console] [info] re-extracted 0 joint angles: []

the output from SmartHMI

Didn't receive correct number of joints! skipping to start of loop...

I set the params as the following list, and I only connect the x66 port on the KUKA controller box.

RobotName: "Robotiiwa"
RobotModel: "KUKA_LBR_IIWA_7_R800"
LocalUDPAddress: "0.0.0.0"
LocalUDPPort: "30010"
RemoteUDPAddress: "172.31.1.160"
LocalHostKukaKoniUDPAddress: "192.168.1.100"
LocalHostKukaKoniUDPPort: "30200"
RemoteHostKukaKoniUDPAddress: "192.168.1.2"
RemoteHostKukaKoniUDPPort: "30200"
KukaCommandMode: "JAVA"
KukaMonitorMode: "JAVA"

[ahundt]

do you have grl driver running and waiting for a connection?

[jacknlliu]

@ahundt I think there is a mistake here

https://github.com/ahundt/grl/blob/bd62058cb3d7fdaf85ea2841d32199389152e7fa/include/grl/ros/KukaLBRiiwaROSPlugin.hpp#L93

here get the LocalUDPPort param from ros, but assigned it to LocalUDPAddress! This cause the param LocalUDPAddress is not correct.

[jacknlliu]

After fix the param, also not working...(after setting the interaction_mode correctly, the robot can move to the specified position)

the output from PC:

[ INFO] [1566872228.070443406]: done creating subscribers
[2019-08-27 02:17:08.070] [console] [info] KukaLBRiiwaRosPlugin: Connecting UDP Socket from 
[ INFO] [1566872228.070756127]: KukaLBRiiwaROSPlugin in unsupported mode! Valid grl::flatbuffer::ArmState required for interaction_mode topic!
[*** LOG ERROR #0001 ***] [2019-08-27 02:17:08] [console] {argument index out of range}
[*** LOG ERROR #1002 ***] [2019-08-27 02:17:09] [console] {argument index out of range}
[*** LOG ERROR #2002 ***] [2019-08-27 02:17:10] [console] {argument index out of range}
[*** LOG ERROR #3003 ***] [2019-08-27 02:17:11] [console] {argument index out of range}
[2019-08-27 02:17:11.733] [console] [error] C++ KukaJAVAdriver Error: flatbuff failed verification. bufOk: false
[*** LOG ERROR #4004 ***] [2019-08-27 02:17:12] [console] {argument index out of range}
[*** LOG ERROR #5005 ***] [2019-08-27 02:17:13] [console] {argument index out of range}
[*** LOG ERROR #6006 ***] [2019-08-27 02:17:14] [console] {argument index out of range}
[*** LOG ERROR #7006 ***] [2019-08-27 02:17:15] [console] {argument index out of range}
[*** LOG ERROR #8007 ***] [2019-08-27 02:17:16] [console] {argument index out of range}
[*** LOG ERROR #9007 ***] [2019-08-27 02:17:17] [console] {argument index out of range}
[ INFO] [1566872238.070844170]: KukaLBRiiwaROSPlugin in unsupported mode! Valid grl::flatbuffer::ArmState required for interaction_mode topic!
[*** LOG ERROR #10008 ***] [2019-08-27 02:17:18] [console] {argument index out of range}
[*** LOG ERROR #11008 ***] [2019-08-27 02:17:19] [console] {argument index out of range}
[*** LOG ERROR #12009 ***] [2019-08-27 02:17:20] [console] {argument index out of range}
[*** LOG ERROR #13010 ***] [2019-08-27 02:17:21] [console] {argument index out of range}
[*** LOG ERROR #14011 ***] [2019-08-27 02:17:22] [console] {argument index out of range}
[*** LOG ERROR #15011 ***] [2019-08-27 02:17:23] [console] {argument index out of range}
[*** LOG ERROR #16011 ***] [2019-08-27 02:17:24] [console] {argument index out of range}
[*** LOG ERROR #17012 ***] [2019-08-27 02:17:25] [console] {argument index out of range}
[*** LOG ERROR #18013 ***] [2019-08-27 02:17:26] [console] {argument index out of range}
[*** LOG ERROR #19013 ***] [2019-08-27 02:17:27] [console] {argument index out of range}
[ INFO] [1566872248.070828425]: KukaLBRiiwaROSPlugin in unsupported mode! Valid grl::flatbuffer::ArmState required for interaction_mode topic!
[*** LOG ERROR #20013 ***] [2019-08-27 02:17:28] [console] {argument index out of range}
[*** LOG ERROR #21014 ***] [2019-08-27 02:17:29] [console] {argument index out of range}
[*** LOG ERROR #22015 ***] [2019-08-27 02:17:30] [console] {argument index out of range}
[*** LOG ERROR #23015 ***] [2019-08-27 02:17:31] [console] {argument index out of range}
[*** LOG ERROR #24016 ***] [2019-08-27 02:17:32] [console] {argument index out of range}
[*** LOG ERROR #25017 ***] [2019-08-27 02:17:33] [console] {argument index out of range}
[*** LOG ERROR #26018 ***] [2019-08-27 02:17:34] [console] {argument index out of range}
[*** LOG ERROR #27018 ***] [2019-08-27 02:17:35] [console] {argument index out of range}
[*** LOG ERROR #28018 ***] [2019-08-27 02:17:36] [console] {argument index out of range}
[*** LOG ERROR #29019 ***] [2019-08-27 02:17:37] [console] {argument index out of range}
[ INFO] [1566872258.070853638]: KukaLBRiiwaROSPlugin in unsupported mode! Valid grl::flatbuffer::ArmState required for interaction_mode topic!
[*** LOG ERROR #30019 ***] [2019-08-27 02:17:38] [console] {argument index out of range}

the output from SmartHMI (the "Didn't received ..." was commented):

[jacknlliu]

Another problem, why is there a tcp connection tcp://xxx:30010 on the smartpad, actually we use the udp socket?

[jacknlliu]

the robot can move using the kuka ros test script, but the /joint_states can't get the valid message.

The following output from the grl kuka driver:

[2019-08-27 13:36:52.073] [console] [error] C++ KukaJAVAdriver Error: flatbuff failed verification. bufOk: false
[2019-08-27 13:36:52.077] [console] [error] C++ KukaJAVAdriver Error: flatbuff failed verification. bufOk: false
[2019-08-27 13:36:52.081] [console] [error] C++ KukaJAVAdriver Error: flatbuff failed verification. bufOk: false
[2019-08-27 13:36:52.086] [console] [error] C++ KukaJAVAdriver Error: flatbuff failed verification. bufOk: false
[2019-08-27 13:36:52.090] [console] [error] C++ KukaJAVAdriver Error: flatbuff failed verification. bufOk: false
[2019-08-27 13:36:52.093] [console] [error] C++ KukaJAVAdriver Error: flatbuff failed verification. bufOk: false
[2019-08-27 13:36:52.107] [console] [error] C++ KukaJAVAdriver Error: flatbuff failed verification. bufOk: false
[2019-08-27 13:36:52.118] [console] [error] C++ KukaJAVAdriver Error: flatbuff failed verification. bufOk: false
[2019-08-27 13:36:52.131] [console] [error] C++ KukaJAVAdriver Error: flatbuff failed verification. bufOk: false
[2019-08-27 13:36:52.135] [console] [error] C++ KukaJAVAdriver Error: flatbuff failed verification. bufOk: false
[2019-08-27 13:36:52.139] [console] [error] C++ KukaJAVAdriver Error: flatbuff failed verification. bufOk: false

@ahundt do you have any tips for debugging it? Update: after changing the line

https://github.com/ahundt/grl/blob/bd62058cb3d7fdaf85ea2841d32199389152e7fa/src/java/grl/src/grl/driver/GRL_Driver.java#L583

to

KUKAiiwaStates.finishKUKAiiwaStatesBuffer(builder, KUKAiiwaStatesOffset);

then the verifying fail error disappeared.

The following output from the SmartHMI:

[jacknlliu]

After fixing the java side, the verification error disappeared. But the topic joint_states and /slave/wrench_r is still not available. Then I find the new data flag is always false when the Java monitor mode is used, and I change the flag then the /slave/wrench_r and /joint_states are published. But the /joint_states return empty positions.

I think the default usage for this repo is that using the JAVA interface as the command interface but use the FRI as the monitor interface, is it right? @ahundt If this is the default behavior, how to set the correct control mode both for FRI and SmartServo interface?

[ahundt]

the default is to use java + smartservo.

you need to enable the ros integration in cmake, and run that for stuff to appear on ROS.

[ahundt]

This is the relevant cpp file you should make sure is compiled and run:

https://github.com/ahundt/grl/blob/master/src/ros/grl_kuka_ros_driver.cpp

That program connects to ros and copies data between the robot and ROS.

This is the relevant cmake file:

https://github.com/ahundt/grl/blob/master/src/ros/CMakeLists.txt

Make sure the ccmake *_FOUND flags are all enabled in cmake.

[jacknlliu]

@ahundt thanks, these things I have completed. I debug them and find some bugs like the as described above, and I think the disadvantage of this driver is that the ros control hardware interface is not implemented. And the default usage of this driver is not intuitive and feature-rich as iiwa stack.

[ahundt]

This API is designed for soft realtime use and it includes its own controller so ros control was never needed for our use cases. Similarly, Java wrench measurement calls add latency. If iiwa stack fits your project's needs, you should use it!

Thanks for giving this a try!