Troubles finding a connection to Kuka iiwa 14 controller

[jomonn]

Hello, I am having troubles connecting to my kuka controller, my HMI shows the following dialouge:

In addition, I get the warning that I have to use Real Time Kernel - is this the reason? I tried it with RT Kernel but than the FIFO scheduling didn't work out.

Do I have to set the IP of the kuka controller anywhere in the code? Or how does the connection work?

[mhubii]

Hi @jomonn , so on the smartPAD you can see: Creating FRI connection to 127.0.0.1

In Sunrise Workbench, find the line where it sets the IP to 127.0.0.1, and set it to your laptop's IP.

If you use X66, the robot's IP is likely 172.31.1.147, if you use KONI, the robot's IP is 192.170.10.2, see https://lbr-fri-ros2-stack-doc.readthedocs.io/en/latest/_images/02_station_setup_configuration1.png

So e.g. you want to set your laptops IP to 172.31.1.148 / 190.170.10.1

One more thing: If you want to run the torque sine overlay, make sure you run the torque sine overlay demo on the robot, see https://lbr-fri-ros2-stack-doc.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_demos/lbr_demos_fri_ros2_cpp/doc/lbr_demos_fri_ros2_cpp.html. You might run into this issue https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/115#issuecomment-1709909486

smartPAD: LBRJointSineOverlay <-> laptop: ros2 launch lbr_demos_fri_ros2_cpp joint_sine_overlay.launch.py model:=iiwa14

The realtime kernel shouldn't be the issue. Let me know if this helps.

[jomonn]

thank you for your quick response, that worked perfectly! maybe you could add this to the robot setup/ demo guide :)

[mhubii]

wow I would love that ! It would belong somewhere here

https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_fri_ros2_stack/doc/robot_setup.rst

which corresponds to this

https://lbr-fri-ros2-stack-doc.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/robot_setup.html