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ros-industrial / staubli_val3_driver

ROS-Industrial (simple message) driver for Stäubli CS8 and CS9 robot controllers (VAL 3 application)
Apache License 2.0
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ros_server NOT running in CS9 controller #33

Closed AshwathamanGovind closed 3 years ago

AshwathamanGovind commented 3 years ago

When i tried to start the ros_server after sending the contents inside the val3 directory to the usrapp/ directory in cs9. An error saying "cannot start ros_server.pgx" is shown and i am not able to start the server. I am using a cs9 controller and TX2_60 Robot here and i am making use of the staubli driver that i got from https://github.com/ros-industrial/staubli_val3_driver/ . Can you anyone help me sort out this problem and establish a seamless communication between ROS and staubli cs9 ???

Thanks in Advance. Any help from your side would be of great use for me

gavanderhoorn commented 3 years ago

As far as we know, CS9 should be supported and work. This was contributed by @marshallpowell97 in #15.

Are there are any more informative (error) messages displayed then cannot start ros_server.pgx?

Perhaps you could take a picture of the TP when it shows you that error?

AshwathamanGovind commented 3 years ago

@gavanderhoorn First of all thanks for your response. This is error that i get when i try to run the ros_server from SP2 in Staubli Staubli_error

JohannesFriedrich commented 3 years ago

Just a little hint from my side: You also have to load the "ros_libs" folder to usrapp. It looks like in your image that this library is not on the disk.

AshwathamanGovind commented 3 years ago

@JohannesFriedrich I have loaded that ros_libs folder also to usrapp. I also checked that again using ftp. The folder is present inside usrapp but it is not listed in the VAL3 APPLICATIONS tab in the teach pendant. I have attached the snapshot of the file structure (accessed using FTP). staubli_ros_libs_pic

JohannesFriedrich commented 3 years ago

You´re right. Because the _roslibs is a folder containing other applications it is not visible on the SP2.

What´s the error logger (upper left symbol) exactly saying? Can you give us a screenshot or better: an exported error-logger? You can export it also via ftp by changing the directory to log or export it via USB by exporting it in the error-logger panel, click right on the little arrow (sub-menu) and export it.

AshwathamanGovind commented 3 years ago

Please have a look. I have attached the exported error log folder that i have exported from CS9. exportLogs.zip

AshwathamanGovind commented 3 years ago

While going through the error logs I encountered another error message saying "interfaceDefault.pjx: invalid library". FYI, i will also add the screenshot of that error message. I think due to some error in the libs I am able to start the ROS server in CS9. IMG_0311

JohannesFriedrich commented 3 years ago

Indeed, the UserInterface library is the problem. Did you change something in this library? I think the best way is to remove the UserInterface completely from the controller and copy it again from your PC.

AshwathamanGovind commented 3 years ago

As expected, The issue was because of a corrupt file in UserInterface library. After i sent that again via Transfer manager in SRS I am able to start the ros_server application.

AshwathamanGovind commented 3 years ago

Thanks for the support @gavanderhoorn and @JohannesFriedrich