Closed rkojcev closed 7 years ago
Are you trying to send FRI commands? That's very close to working but not quite there yet. If FRI commands are not enabled that may be a bug in recent patches I added to work towards getting FRI working properly but didn't get 100% there
On Wednesday, June 8, 2016, Risto Kojcev notifications@github.com wrote:
Hi Andrew,
- When I run the grl_driver I get the following error at the beginning:
[ INFO] [1465417757.473397698]: done creating subscribers using: 192.170.10.100 30200 192.170.10.2 30200 [2016-06-08 16:29:17.474941] [0x3993c7c0] [trace] KukaLBRiiwaRosPlugin: Connecting ZeroMQ Socket from tcp://0.0.0.0:30010 to tcp:// 172.31.1.147:30010 No new FRI data available, is an FRI application running on the Kuka arm? Total sucessful transfers: 0 Total attempts: 1 Consecutive Failures: 1 Consecutive Successes: 0
Everything seems to be fine on the FRI side, right ports, ip, everything. I have confirmed this with pinging the ip of the FRI on the controller as well as running the KUKA FRI demo apps.
- Second interesting thing is that when you start the grl driver without issuing any position commands, the arm locks itself and becomes stiff. If in Cartesian Impedance Mode this is bad because the arm suddenly becomes stiff.
After issuing joint pose commands via ROS, the arm moves in the right position and then the Cartesian Impedance is always on. And it stays like this without self locking.
Is this behavior how it should be in your code or is something we can have a look to improve?
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Cheers! Andrew Hundt
Ph.D. Student Johns Hopkins University
No I am just using the default configuration. I am trying to send commands via Smart Servo but I do not receive any commands of the joint position via FRI anymore...
KukaCommandMode is set to be Java KukaMonitorMode is set to be FRI
Hmm I'm very surprised because I tested everything I committed just before I left
On Thursday, June 9, 2016, Risto Kojcev notifications@github.com wrote:
No I am just using the default configuration. I am trying to send commands via Smart Servo but I do not receive any commands of the joint position via FRI anymore...
KukaCommandMode is set to be Java KukaMonitorMode is set to be FRI
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Cheers! Andrew Hundt
Hmmm same with me especially because all the ip's are set correctly and the FRI is running on the demo's provided by KUKA...
Any pointers in the code where I should look?
You might only need step 1, and hopefully won't need all of them but I tried to think of everything I could.
On Friday, June 10, 2016, Risto Kojcev notifications@github.com wrote:
Hmmm same with me especially because all the ip's are set correctly and the FRI is running on the demo's provided by KUKA...
Any pointers in the code where I should look?
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Cheers! Andrew Hundt
Closing this one.
Hi Andrew,
[ INFO] [1465417757.473397698]: done creating subscribers using: 192.170.10.100 30200 192.170.10.2 30200 [2016-06-08 16:29:17.474941] [0x3993c7c0] [trace] KukaLBRiiwaRosPlugin: Connecting ZeroMQ Socket from tcp://0.0.0.0:30010 to tcp://172.31.1.147:30010 No new FRI data available, is an FRI application running on the Kuka arm? Total sucessful transfers: 0 Total attempts: 1 Consecutive Failures: 1 Consecutive Successes: 0
Everything seems to be fine on the FRI side, right ports, ip, everything. I have confirmed this with pinging the ip of the FRI on the controller as well as running the KUKA FRI demo apps.
After issuing joint pose commands via ROS, the arm moves in the right position and then the Cartesian Impedance is always on. And it stays like this without self locking.
Is this behavior how it should be in your code or is something we can have a look to improve?