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lbr-stack / lbr_fri_ros2_stack

ROS 2 integration for KUKA LBR IIWA 7/14 and Med 7/14
https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/lbr_fri_ros2_stack.html
Apache License 2.0
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KONI IP address #3

Closed qsh-zh closed 2 years ago

qsh-zh commented 3 years ago

Thanks for sharing the amazing project.

I am wonder can we set the KONI FRI address similar to x66. The default value for those two are 192.170.10.2 and 172.31.1.147. The jave file, this line builds connection on 172.31.1.148. Do we need some changes to the KONI setting?

mhubii commented 3 years ago

hi @qsh-zh sorry this project is very raw atm. I can have a look at it tomorrow and add a flexible IP

mhubii commented 2 years ago

hi @qsh-zh sorry currently have some other things to do and did not get a look at it yet. The ip adress "172.31.1.148" specifies the ip of the client, the client in this case is your computer that you connect to the KUKA controller, which is the FRI server. Currently I connect through port x66, not through the KONI, but keep in mind that the FRI is a UDP connection, so it is not necessary to go through KONI.

I will investigate this further and let you know once I came around doing it. Sorry again

qsh-zh commented 2 years ago

Thanks for your feedback and I do not realize we can communicate FRI via x66. Thanks.

mhubii commented 2 years ago

Hi @qsh-zh. X66 supports control rates >2ms. If you want to use KONI, you can set the IP at https://github.com/KCL-BMEIS/lbr_fri_ros2_stack/blob/256668422fb083dd73a2051ac29492dba0a31736/server/com.kuka.connectivity.fri.fri_ros/LBRServer.java#L36 to 192.170.10.2, for example. However, I recently experience connection drops. They are caused by the ros2_control_node. I'll work on a fix now, and add something so one can choose between KONI/X66

mhubii commented 2 years ago

Hi @qsh-zh, the connection issues should be gone now. On running the LBRServer, you'll also be asked to select the IP now. Therefore, if you want to connect via KONI, you need to set your computer's IP to 192.170.10.1, netmask to 255.255.255.0, and select it on the SmartPAD. The KONI on the KUKA controller is by default configured to 192.170.10.2. (see the Configuration tab in StationSetup.cat in SunriseWorkbench)