IIWA giving position but not moving
I'm trying to work though a demo provided by ROS-I and get my IIWA moving. for reference this is the demo with instructions I'm referring to https://industrial-training-master.re... .
I have read through both versions of the wiki https://github.com/IFL-CAMP/iiwa_stac... and https://bitbucket.org/khansari/iiwa/w... .
My current issue is that I can launch the ROS node on the IIWA and it seems to run attached is an image of what the teach pendent shows when the ROS node is running.
I run the ROS master side with simulated sensors and a real robot. it connects and the simulation gets the current starting position of my robot but once the planning is done and I tell it to execute on the hardware nothing happens.
in the wiki there is a FAQ that mentions robot sending position but not moving is a networking issue. I went and checked the locations that it suggested looking into and it still isn't working. the other thing is that I originally used IP addresses for the koni net and my ros master of 192.168.1.100 and 192.168.1.120 but I remembered seeing something in the kuka manual about invalid IP addresses so I changed these to the addresses that the tutorial says they use of 160.69.69.69 and 160.69.69.100.
I'm still really new to ros so there may be troubleshooting tools available that I'm not aware of. let me know if there is anything specific I'm not including here.
I dont think i'm adding an image correctly. I think this link will take you to my teach pendent image. https://photos.app.goo.gl/WidKQxkFfsk...
this is not an answer, but:
unless your company/organisation is allowed to use the
160.69.69.xrange, I wouldn't do that. Those addresses are routable IP addresses and that is never a good idea if you don't actually belong to a network that is part of that range. The192.168.x.xrange that you were using before would be better.Refer to wikipedia/Private network for some more info on this.
Thanks for your answer and I can change it back but, I didnt think that type of thing would matter being off an actual network but I'll implement your suggestion.
Thanks
@gvdhoorn That's part of the
iiwa_stacksetup. IIRC the original IP of the robot controller is on the same IP range, so this shouldn't be more harmful than the factory settings.@fvd: I don't really understand what you're saying. My comment was about using the
160.x.x.xrange of addresses. That range is registered toPACCAR, Inc., not Siemens, so the OP should not use it. It's used in the ROS-I Training Exercises that the OP quotes/refers to.The IP in the
160.x.x.xrange is proposed in the setup instructions of theiiwa_stackpackages the OP linked: https://github.com/IFL-CAMP/iiwa_stac...I also dimly remember reading (as the OP mentions) that the KUKA controller blocks connections on other IP ranges. I'm not sure this is a problem here, since those addresses should only be used locally anyway.
Doesn't matter who uses it as an example, it's a public, routable IP and it should not be used by anyone other than the person with hosts in a network that is registered to use it.