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frankaemika / libfranka

C++ library for Franka research robots
https://frankaemika.github.io
Apache License 2.0
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help on getting vacuum_object example to work #92

Closed sapertuz closed 3 years ago

sapertuz commented 3 years ago

Hello everyone.

Recently, in my university, we purchased a Schmalz Cobot pump Franka Emika Edition and trying the vacuum_object example (which to my knowledge it should work out of the box) and get the following error:

vacuum_object 172.16.0.2 
    terminate called after throwing an instance of 'franka::NetworkException'

Can you help me with how should I try this example?? trying other examples of the libfranka work correctly, just not the vacuum gripper one...

Below find a description of how I got the error.

Thank you very much

Used Machine

Steps

  1. The Cobot pump is connected and mounted to the Franka robotic arm.
  2. Turn on Control Unit (Black Box).
  3. After finishing bootup of Franka arm we accessed the desk app (http://robot.franka.de/) with a computer connected to the ethernet port on the base of the arm.
  4. In the desk app we unlock the joints and make sure the robot is on move mode (blue light). NOTE: We notice here that in the desk app, no end effector is detected. 4.1. We entered here in SETTINGS > END-EFFECTOR to see if we could choose the COBOT PUMP end-effector. However, in the drop-down menu where it is supposed to appear it only gave us the option to add either the 'Franka Hand' or 'Generic' gripper. No option for the COBOT PUMP was there. We proceed to choose GENERIC.
  5. Another computer is connected to the FCI (black box) via ethernet.
  6. We try the echo example (echo_robot_state 172.16.0.2) to check that libfranka is working correctly. NOTE: 172.16.0.2 is the IP of the FCI, the output of the echo example gives a positive result.
  7. We try the vacuum example and receive the following message:
  8. vacuum_object 172.16.0.2 
terminate called after throwing an instance of 'franka::NetworkException'
sapertuz commented 3 years ago

I solved this problem. to whoever this is useful: Create your Franka World account and register your robot there. After that contact franka emika support and provide them your Franka World ID. They will give you instructions to download the cobot pump feature in the FCI.