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ros-industrial / universal_robot

ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)
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[C API] controller_box_type 5 not recognised #198

Closed 2Reeko closed 9 years ago

2Reeko commented 9 years ago

Hi, On Starting the controller drivers step of the http://wiki.ros.org/ur_c_api_bringup, after bringing up the rqt and enabling plugins. When I click the 3rd button to open the interface with the robot I get the following error:

##### conf.calibration[0] : 
##### conf.calibration[1] : 
##### conf.calibration[2] : 
##### conf.calibration[3] : 
##### conf.calibration[4] : 
##### conf.calibration[5] : 

##### End of conf : 'urcontrolrc' #####

=====================================================
Error: joint configuration-files not loaded correctly
=====================================================

I tried running the ur_ctrl_server on the control box again and saw the following warning:

*******************************************************************
WARNING: Configuration is inconsistent:
Robot type is UR10, but controllerbox does not match this robot type
Please review urcontrol.conf
*******************************************************************

This lead me to find the controller_box_type is 5 for my situation and in the ur-c-api-example-1.8::configuration.h the comment next to the controller_box_type only says number 1 or 2. I'm not sure if this will solve the joint configuation error though.

I'm now using gt-ros-pkg/universal/tree/hydro-devel-c-api with the updated ur_controller_iface.cpp and gt-ros-pkg/industrial_core hydro-devel.

gavanderhoorn commented 9 years ago

Also: which control box do you have (CB2, CB3) and what is the version of Polyscope installed on it?

2Reeko commented 9 years ago

I'm not in the lab with the robot at the moment but we purchased it a few weeks ago, so I would assume the latest for both.

Updated OP for readablility

gavanderhoorn commented 9 years ago

Ok. Afaik, C-API is only supported on CB2 controllers. The latest release is 1.8.16941, which is also the latest Polyscope version compatible with CB2 controllers. The controller_box_type having only the value 1 or 2 is probably a hint. I'd recommend you send UR (or your local distributor) an email to get this confirmed.

In any case, the LLSI is supposed to be the replacement of C-API for CB3 controllers, but (as the name implies) is not (directly) compatible with the C-API driver in this repository.

2Reeko commented 9 years ago

Thanks for the information, I'll see what my distributor says.

2Reeko commented 9 years ago

UPDATE: Our UR10 is currently Polyscope 3.1.16916 and CB3. I will look into using the LLSI after a firmware update to 3.1.17336.

Just a couple last questions: Is there any documentation on the LLSI? and is the ros-industrial/universal_robot indigo branch compatible with either of these polyscope versions?

gavanderhoorn commented 9 years ago

Our UR10 is currently Polyscope 3.1.16916 and CB3

So no C-API for you then.

I will look into using the LLSI after a firmware update to 3.1.17336.

Know that that will require you to port the current C-API driver to LLSI. Afaik no one has done that yet.

Is there any documentation on the LLSI?

You'll have to ask UR that, we're mere mortals, just as you. The archive does contain a example_LLSI.cpp that should show you how to use it.

and is the ros-industrial/universal_robot indigo branch compatible with either of these polyscope versions?

See wiki.ros.org/universal_robot, but no, it isn't. All 3.1.x versions currently have issues with the driver (see also #183 and #191).

2Reeko commented 9 years ago

Thanks for the help, I'll figure something out.

Closing thread

gavanderhoorn commented 9 years ago

Depending on what you intend to do, it might be worthwhile exploring a port of the C-API driver (which wouldn't be called "C-API driver" anymore then) to LLSI. I'm not sure about the feasability and / or the effort that would be involved though. It would probably be a good idea to discuss this with @kphawkins.

kphawkins commented 9 years ago

So although it was not in my current plans a few days ago, I might be developing a port of the C-API to LLSI in the coming months. I'm actually going to get access to a CB3 control box, so I should be able to write something.

Honestly, much of what I've written will need to be discarded, so it might be more of a rewrite than a port, but I will try and salvage as much as I can so that it's fully compatible with ros-control.

On Mon, Apr 20, 2015 at 2:39 AM, G.A. vd. Hoorn notifications@github.com wrote:

Depending on what you intend to do, it might be worthwhile exploring a port of the C-API driver (which wouldn't be called "C-API driver" anymore then) to LLSI. I'm not sure about the feasability and / or the effort that would be involved though. It would probably be a good idea to discuss this with @kphawkins https://github.com/kphawkins.

— Reply to this email directly or view it on GitHub https://github.com/ros-industrial/universal_robot/issues/198#issuecomment-94371187 .

ghost commented 9 years ago

Has there been any progress on the porting of C-API? Or can anybody point to some information about LLSI, and where can i find the archive that contains the LLSI_example.cpp? It has been quite frustrating to get everything to work with so little information.

Regards

gavanderhoorn commented 9 years ago

Has there been any progress on the porting of C-API?

Just to be clear: the 'C-API' is a controller programming interface that Universal Robots provides, it is not something that we -- as ROS-Industrial -- own / support / maintain. In fact, we are not associated with Universal Robots in any way.

Also: the C-API itself is not / cannot be 'ported' per se. LLSI is the successor to the C-API, and works on CB3 and up.

What @kphawkins was referring to was that the ROS-Industrial compatible driver component that makes use of the C-API interface would need to be updated to use the LLSI, in order for it to be usable with CB3 controllers.

Or can anybody point to some information about LLSI, and where can i find the archive that contains the LLSI_example.cpp? It has been quite frustrating to get everything to work with so little information.

As we did not create the LLSI, nor the C-API, I can only refer you to Universal Robots. They seem to have recently migrated all their support information to a new server, and I've not been able to find anything about the LLSI on it yet.

gavanderhoorn commented 9 years ago

If you are asking about the ROS-Industrial C-API driver, then I suggest you open a new issue. Note though that anything more recent than CB2 will not be able to run it.

ghost commented 9 years ago

Ok thanks for the info, understand now. I actually have no need to get it to work with ROS, i was indeed just looking for some information on the LLSI. Also couldn't find it on the new support site, but i will send them an email. Thanks again