search

roboticsleeds / cobot_pump_ros

ROS package for the cobot pump using the libfranka middleware
GNU General Public License v3.0
0 stars 2 forks source link

Exception thrown while processing service call: libfranka: Connection to FCI refused. #5

Open davidschnermann-ifu opened 10 months ago

davidschnermann-ifu commented 10 months ago

Hello, thanks for this promising repository! We just bought the schmalz cobot pump, but we struggle to get a connection via Franka Panda and ROS 1 noetic. Are there any steps we need to mention before we can use the pump via this repo? Anything we need to set up in the Franka Desk or somewhere else?

Controlling the panda via ros works well. We cloned this repository, changed the IP-Adress in the example.launch and did a catkin build. If we launch the example.launch and call the rosservice /startpump we just get an FCI Error. ERROR: service [/startPump] responded with an error: b'libfranka: Connection to FCI refused. Please install FCI feature or enable FCI mode in Desk. But FCI is running and works as it should by e.g. using move_to_start Or do we need a special FCI-Version or something?

Thanks for your help!

rpapallas commented 10 months ago

Hello, did you change your end-effector from Desk settings to the Pump? If not, try to first change the end-effector setting from desk.

We hit some random connectivity issues with the pump, and we thought it's our specific hardware. Please let us know how your testing goes and if you also hit connectivity errors as you use the pump, and we can look into them.

rpapallas commented 10 months ago

@davidschnermann-ifu We realised during testing we had a hard-coded hostname in the source file. Can you git pull and update the IP in this file? We need to implement it properly using the param server, but we don't have access to the robot right now to truly test it.