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kth-ros-pkg / yumi

ROS packages pertaining to the ABB YuMi (IRB 14000) robot
BSD 2-Clause "Simplified" License
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Unable to connect to live yumi robot #56

Open SnowWhite0808 opened 4 years ago

SnowWhite0808 commented 4 years ago

I am using Ubuntu 18.04.4 LTS with ROS Melodic and I am trying to connect to the live Yumi robot.

I followed this tutorial https://github.com/kth-ros-pkg/yumi/wiki/Firmware to install the firmware, (We dont have the EGM modules). And also finished the installation and netwok setup following the wiki ( https://github.com/kth-ros-pkg/yumi/wiki/Installation ). But when I launch : roslaunch yumi_support robot_interface.launch or roslaunch yumi_launch yumi_pos_control.launch, I get this error :

[ERROR] [1595792296.959756397]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111) [ WARN] [1595792296.959765686]: Not connected, bytes not sent [ERROR] [1595792296.959772055]: Failed to receive message length [ERROR] [1595792296.959778484]: Failed to receive incoming message [ WARN] [1595792296.959784695]: Send failure, no callback support

Could anyone give me some advice? Any possible reasons for this will be helpful for me. Thanks in advance!

ArFuchs commented 4 years ago

Hi,

I'm also trying to connect to Yumi since a few days. I added the necessary tasks and files and the FlexPendant says its connected to Yumi, but in the terminal in which I run "roslaunch yumi_support robot_interface.launch" I get the same error as SnowWhite0808. I followed all the steps in the wiki, but it doesn't work.

I hope someone can help, because it's really frustrating. Thanks in advance.

Update:

The issue somehow disappered after I made a backup of the ABB setup I created bevor and reloaded it on Yumi.

To set up the ABB Driver I followed the instructions in . I also made the camra and gripper setup.

I've set the value of MAX_NUM_JOINTS in industrial_core/simple_message/include/simple_message/joint_data.h to 10 as described in the instructions.

The file for the T_CAMERA task is located in yumi_cameras. Now Yumi performes the gripper routine after pressing the buttons and I'm able to connect to Yumi without any error messages.

HauNan commented 4 years ago

@ArFuchs Hi,ArFuchs, Knowing that your yumi runs well and congratulations. Would you please tell me if you install the EGM modules or not? I'm curious if I call the T-CAMERA functions in ROS, is that necessary for me to purchase the EGM modules. Now I could drive the gripper and arm's motion of Yumi by abb-driver but without the camera.