How to connect KUKA KR C4 with ROS using KUKA Expermental package?
I am trying to connect KUKA KR C4 controller with ROS and for that I am using the ROS RSI HW Interface from KUKA experimental package and following this tutorial.
The IP-Address of my KLI Windows Interface is:
IP: 192.168.250.20 Subnet mask: 255.255.255.0 Default gateway: 192.168.250.20.
Then I create a new entry on RSI-Network with IP Address 192.168.1.20 and restart the controller.
Then I ping the Computer with ROS instance running which is IP Address 192.168.250.10 which works. I can ping both 192.168.250.20 and 192.168.1.20 from the PC with ROS instance running.
Then I create add a new IP-Address 192.168.1.9 on the Computer with ROS Instance running. When I try to ping this address from the KR C4 Controller, it is not reachable. This is not how it is supposed to be, right?
Is this a networking issue in Linux? What I did for this is, I just inserted an Ethernet Cable in an Ethernet Port and added two IP Addresses 192.168.1.9 and 192.168.250.10 using the network manager. Like I said, I can only ping the latter from the controller PC.
And if I continue to run ros_rsi.src on the KUKA Pad, I get a Bad Ethernet Error. So I am guessing, this is due to the fact that I cannot ping 192.168.1.9 from my Controller.
Does anyone have any idea, how do I solve this issue? Am I missing something obvious here? Thanks in advance.
This reads like a problem with your network configuration, which can be confusing when it comes to KUKA controllers (with their multiple NICs and networks).
You may want to ask this question on a KUKA related forum, or even contact your KUKA branch office for support. RSI is a normal, OEM supported interface to KUKA controllers, and they should be able to help you.
But it is expected that, one Ethernet cable is used to connect the Controller with the Computer, and two IP Addresses on different subnets are to be assigned on the Computer, right? This is confusing me right now, why do I need two IP Addresses, would it not be enough if I just assign the IP Address of RSI-Network to the Computer? Thank you in advance.
As I wrote: these are idiosyncrasies of KUKA's network configuration. You'll want to as KUKA about setting up networking for RSI.