rostopic echo for readrobotstate doesn't display anything about iiwa_stack HOT 11 CLOSED

I'm actually surprised that the ROS master gets connected using that ethernet interface.
Could you report here the networks settings on the Linux machine, within Sunrise and the content of the config.txt file?

from iiwa_stack.

I'll share the config file by Monday.
The setting is: A switch that connects to the controller, Sunrise workstation and the ROS master PC. Every PC is able to ping itself. I haven't changed a lot from the original config file. I've just changed the IP address of the ROS master.
Also, what I thought is I can use the Ethernet interface(With FRI working on it). The current open issues/enhancements made me assume that I can choose not using the KONI interface. If that's wrong, I'll see if I can get the KONI interface up and working.

from iiwa_stack.

In my ROS-master's bash:
sudo ifconfig eth0:1 172.31.1.146 netmask 255.255.255.0 up
export ROS_IP=172.31.1.146
export ROS_MASTER_URI=http://$ROS_IP:11311

IP of the controller: 172.31.1.150
IP of the workstation: 172.31.1.145

Master and controller are connected through ping (checked by pinging the controller. Could only check one sided)

config file:
robot_name: iiwa
master_ip: 172.31.1.146
master_port: 11311
ntp_with_host: false

Also,
I get this error on the roscore terminal during the start of the program
Couldn't find an AF_INET address for [[fe80]
Couldn't find an AF_INET address for [[fe80]
Couldn't find an AF_INET address for [[fe80]
Couldn't find an AF_INET address for [[fe80]
Couldn't find an AF_INET address for [[fe80]
Couldn't find an AF_INET address for [[fe80]
Couldn't find an AF_INET address for [[fe80]
Couldn't find an AF_INET address for [[fe80]
Couldn't find an AF_INET address for [[fe80]
Couldn't find an AF_INET address for [[fe80]
Couldn't find an AF_INET address for [[fe80]
Couldn't find an AF_INET address for [[fe80]

from iiwa_stack.

Shot in the dark - did you follow the cabinet_setup instructions that reassign the KONI port from the RTOS interface to Windows?

from iiwa_stack.

From what I got, he is trying to not use the KONI port, but the one used for Sunrise (I think it's called KLI).

When you say:

IP of the controller: 172.31.1.150
IP of the workstation: 172.31.1.145

1. I guess the IP of the workstation is 172.31.1.146 since that is the output of ifconfig, I guess it is just a typo.
2. As IP of the controller do you mean the one of the KLI port? i.e. the IP you use in Sunrise to sync the project

To add something more:
I actually tried myself 2 years ago to use that port instead of the KONI one. It would be the best thing, it would not require that setup onboard of the cabinet (which is kinda safe and takes only 5 minutes one, but still). Sadly, I never managed to make it work, that it is not directly accessible from Java, at least not from the protocol that ROSJava uses (which I'm not a fan of). From what I remember ROSSmartServo (o ROSMonitor) was not even able to connect to the ROS master, simply cause the given interface was not found. Now, @saunair wrote that he gets "connected to master" on the SmartPad, that it actually surprising and gives me hope.

from iiwa_stack.

Another question to @saunair , when you start ROSSmartServo you should get printed out the IP to which you are connecting. What do you get? A photo or screenshot is even better.

from iiwa_stack.

Hi,
Sorry for being unclear in my previous comment.
The workstation means the sunrise PC and the ROS master is the machine I am working with.
The workstation IP is 172,31,1,145;
ROS master 172.31.1.146;
Controller(KLI): 172.31.1.150
The screen-shot as you asked:

from iiwa_stack.

Do you think I should shift to the KONI interface? Why I didn't do it in the first place is that, I just don't want to add new connections and break the currently working FRI on the KLI(Another project depends on it). Will adding the new KONI interface affect the other connections?

Question: I won't be able add a new network with the KONI. The new IP will be in the same subnet and IP. I hope that will work.

from iiwa_stack.

Thanks for the picture, now everything is clear.
The answer is in the value for "Robot IP:" in the picture, which in your case is some kind of IPv6 maybe. That is because the KONI interface still belongs to the RTOS and it is not accessible from Windows/Sunrise and the only interface found is the virtual one between Win and the RTOS (which is used internally).

So yes, you should switch to the KONI interface following the setup step in the Wiki. Plug a monitor, keyboard, and mouse to the cabinet and it will take you 5 minutes once. Be sure to not have a project installed on the cabinet that uses FRI first. If you have one, first install on the cabinet a dummy Sunrise Project with nothing on it.

You have another project using FRI? If so, what do you use FRI for? I suppose reading the robot joint position and/or torque only, maybe controlling the robot via joint commands (if so, let me know how that works :D). In any case, using iiwa_stack you have also those functionalities (and more), you should be able to modify the working projects in very little time. Just use the APIs in iiwa_ros and you probably reduce the code you need to write to a minimum.

Question: I won't be able to add a new network with the KONI. The new IP will be in the same subnet and IP. I hope that will work.
Never tried but it should be totally ok, I just prefer to have a dedicated connection, additional network cards are super cheap.

Let me know how it works

from iiwa_stack.

I get the messages now! Followed the instructions as given and replaced KLI with the KONI as the ROSMaster interface. Thanks a lot for following up!

Best of luck with adding the KLI as the interface for ROS in the future.

from iiwa_stack.

Glad that it worked!

from iiwa_stack.